A method, apparatus, device and storage medium for de-icing a long-span overhead cable

Abstract

The application provides a large-span overhead cable deicing method, device, equipment and storage medium. The method comprises the following steps: collecting a cable image of a large-span overhead cable; identifying an icing area of the large-span overhead cable based on the cable image; determining a boundary point corresponding to a first end direction of the cable in the icing area as a first scanning starting point; setting a scanning endpoint based on a wind force influence degree and a relative fog concentration of the first end relative to a second end; determining an icing area between the first scanning starting point and the scanning endpoint as a scanning range of the first end; determining a boundary point corresponding to a second end direction of the cable in the icing area as a second scanning starting point; determining an icing area between the second scanning starting point and the scanning endpoint as a scanning range of the second end; and controlling a deicing device to deice along the scanning range, so as to realize intelligent adjustment of a scanning proportion of deicing devices at two ends of the cable, and ensure the safety and effectiveness of the deicing task under complex weather conditions such as wind and fog.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cable deicing, and in particular to a large-span overhead cable deicing method, device, equipment and storage medium. BACKGROUND

[0002] In the operation process of high-voltage transmission lines, ultra-high voltage projects and long-span overhead cables in mountainous areas, icing has always been an important factor affecting the safe and stable operation of the line. When the ambient temperature is low and the air humidity is high, supercooled water droplets in the air are prone to condense and freeze on the surface of the cable, forming different types of ice layers. Icing not only increases the weight of the conductor, significantly increases the tension of the line, causes the bearing pressure of the tower and fittings to rise, but also changes the electrical characteristics and dynamic response of the line, leading to serious accidents such as galloping, broken strands and even overall line collapse. Therefore, timely and efficient deicing of overhead cables is an important guarantee for the safe operation of the power grid.

[0003] In the prior art, the treatment methods for icing include manual deicing, mechanical deicing, thermal melting deicing, and laser deicing system. In order to achieve efficient and accurate deicing on long-span lines, deicing devices are usually configured at both ends of the span, the icing position of the cable is determined by scanning and recognition, and laser is used to perform deicing operation.

[0004] However, in actual operating environment, the working effect of the deicing device is easily affected by complex weather conditions. In particular, in extreme weather with low temperature, wind and fog, the deicing difficulty not only lies in the increased adhesion of the ice layer itself, but also lies in the decreased visibility of the deicing equipment. Due to the presence of wind, the flow of fog is intensified, and the water droplets and ice crystals suspended in the air produce strong scattering and refraction to the scanning and detection methods such as laser, which shortens the recognition distance of the equipment. The "limited field of view" caused by this environmental factor makes the traditional fixed-proportion deicing control strategy have the risk of blind scanning and missed scanning, increases the energy consumption and mechanical wear of the equipment, and further reduces the overall deicing quality and safety. SUMMARY

[0005] The present application provides a large-span overhead cable deicing method, device, equipment and storage medium to solve the defect of poor deicing safety in the prior art.

[0006] The present application provides a large-span overhead cable deicing method, which comprises:

[0007] acquiring a cable image of the large-span overhead cable;

[0008] identifying an icing area of the large-span overhead cable based on the cable image;

[0009] The boundary point corresponding to the first end direction of the cable in the icing area is determined as a first scanning starting point, the scanning endpoint is determined based on the wind force influence degree of the first end relative to the second end and the relative mist concentration, and the icing area between the first scanning starting point and the scanning endpoint is determined as the scanning range of the first end; the greater the wind force influence degree of the first end relative to the second end and / or the smaller the relative mist concentration, the greater the scanning range of the first end.

[0010] The boundary point corresponding to the second end direction of the cable in the icing area is determined as a second scanning starting point, and the icing area between the second scanning starting point and the scanning endpoint is determined as the scanning range of the second end.

[0011] The deicing device is controlled to deice along the scanning range.

[0012] According to the deicing method for the long-span overhead cable provided by the application, the scanning endpoint is determined based on the wind force influence degree of the first end relative to the second end and the relative mist concentration, and the scanning endpoint is determined based on the wind force influence degree of the first end relative to the second end and the relative mist concentration.

[0013] The scanning proportion of the first end is calculated based on the wind force influence degree of the first end relative to the second end and the weight thereof and the relative mist concentration of the first end relative to the second end and the weight thereof; the greater the wind force influence degree of the first end relative to the second end or the smaller the relative mist concentration, the greater the scanning proportion of the first end.

[0014] The scanning endpoint is determined based on the scanning proportion of the first end, the first scanning starting point, and the range of the icing area of the long-span overhead cable.

[0015] According to the deicing method for the long-span overhead cable provided by the application, the method further comprises:

[0016] When the deicing device is controlled to deice along the scanning range, the visible image and the infrared image of the cable scanned by the deicing device are collected in real time.

[0017] The evaluation result of the current deicing effect is determined based on the cable width in the visible image of the cable scanned by the deicing device.

[0018] The evaluation result of the current over-deicing risk is determined based on the cable temperature in the infrared image of the cable scanned by the deicing device.

[0019] The deicing power of the deicing device is determined based on the evaluation result of the current deicing effect or the evaluation result of the current over-deicing risk.

[0020] According to the large-span overhead cable deicing method provided by the application, the deicing power of the deicing device is determined based on the evaluation result of the current deicing effect or the evaluation result of the current over-deicing risk, and the deicing power of the deicing device is determined based on the evaluation result of the current deicing effect or the evaluation result of the current over-deicing risk.

[0021] If the evaluation result of the current deicing effect indicates that the current residual ice amount is higher than the preset threshold, the deicing power of the deicing device is increased.

[0022] If the evaluation result of the current over-deicing risk indicates that there is an over-deicing risk, the deicing power of the deicing device is reduced.

[0023] According to the large-span overhead cable deicing method provided by the application, the method further comprises:

[0024] When the deicing device is controlled to deice along the scanning range, a plurality of visible images of the current deicing position are collected in real time, and the shaking amplitudes of each point of the cable at the current deicing position are determined based on the displacements of each point of the cable in the plurality of visible images.

[0025] Based on the shaking amplitudes of each point of the cable at the current deicing position, the scanning speeds of each point of the cable at the current deicing position are set, so that the deicing device performs laser scanning on the corresponding points based on the scanning speeds of each point of the cable at the current deicing position, respectively.

[0026] According to the large-span overhead cable deicing method provided by the application, the scanning speeds of each point of the cable at the current deicing position are set based on the shaking amplitudes of each point of the cable at the current deicing position, and the scanning speeds of each point of the cable at the current deicing position are set based on the shaking amplitudes of each point of the cable at the current deicing position.

[0027] Based on the shaking amplitudes of each point of the cable at the current deicing position, the deceleration ratios of each point of the cable at the current deicing position are calculated; wherein the greater the shaking amplitude of any point of the cable is, the greater the deceleration ratio of the any point is.

[0028] Based on the preset scanning speed and the deceleration ratios of each point of the cable, the scanning speeds of each point of the cable at the current deicing position are determined.

[0029] According to the large-span overhead cable deicing method provided by the application, the deicing device deices along the scanning range based on infrared laser with a wavelength in the range of 1.9-2.12 μm.

[0030] According to the large-span overhead cable deicing method provided by the application, the method further comprises:

[0031] During the process of controlling the deicing device to deice along the scanning range in a continuous mode or a quasi-continuous mode, visible images of the current deicing position are collected in real time.

[0032] The visible images are subjected to ice layer weak point identification.

[0033] If the ice layer weak point exists in the visual image, the de-icing device is adjusted to the pulse mode at the ice layer weak point.

[0034] The application further provides a large-span overhead cable de-icing device, comprising:

[0035] An image acquisition unit is configured to acquire a cable image of the large-span overhead cable.

[0036] An icing area identification unit is configured to identify an icing area of the large-span overhead cable based on the cable image.

[0037] A first scanning range setting unit is configured to determine a boundary point corresponding to a first end direction of the icing area as a first scanning starting point, determine a scanning ending point based on a wind force influence degree of the first end relative to a second end and a relative mist concentration, and determine an icing area between the first scanning starting point and the scanning ending point as a scanning range of the first end; wherein the greater the wind force influence degree of the first end relative to the second end and / or the smaller the relative mist concentration, the greater the scanning range of the first end.

[0038] A second scanning range setting unit is configured to determine a boundary point corresponding to a second end direction of the icing area as a second scanning starting point, and determine an icing area between the second scanning starting point and the scanning ending point as a scanning range of the second end.

[0039] A de-icing unit is configured to control the de-icing device to de-ice along the scanning range.

[0040] The application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the large-span overhead cable de-icing method.

[0041] The application further provides a non-transitory computer readable storage medium, which stores a computer program executable by a processor to implement the large-span overhead cable de-icing method.

[0042] The application further provides a computer program product, comprising a computer program executable by a processor to implement the large-span overhead cable de-icing method.

[0043] The application provides a large-span overhead cable deicing method, device, equipment and storage medium, which comprises the following steps: collecting a cable image of the large-span overhead cable, identifying an icing area of the large-span overhead cable based on the cable image, determining a boundary point corresponding to a first end direction of the cable in the icing area as a first scanning starting point, setting a scanning ending point based on a wind force influence degree and a relative mist concentration of the first end relative to a second end, determining an icing area between the first scanning starting point and the scanning ending point as a scanning range of the first end, determining a boundary point corresponding to a second end direction of the cable in the icing area as a second scanning starting point, determining an icing area between the second scanning starting point and the scanning ending point as a scanning range of the second end, and controlling a deicing device to deice along the scanning range, so that the scanning proportion of the deicing devices at the two ends of the cable is intelligently adjusted, the end with higher visibility undertakes a larger proportion of the deicing task, and the end with lower visibility reduces the task load, so that the safety and effectiveness of the deicing task under complex weather conditions such as wind and mist are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0045] Figure 1 is a flowchart of the large-span overhead cable deicing method provided by the application;

[0046] Figure 2 is a schematic diagram of the large-span overhead cable provided by the application;

[0047] Figure 3 is a flowchart of the deicing power dynamic regulation method provided by the application;

[0048] Figure 4 is a flowchart of the dynamic scanning speed adjustment method provided by the application;

[0049] Figure 5 is a structural schematic diagram of the large-span overhead cable deicing device provided by the application;

[0050] Figure 6 is a structural schematic diagram of the electronic device provided by the application. DETAILED DESCRIPTION

[0051] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0052] During the operation of the long-span overhead cable, icing poses a serious threat to the safety of the cable. Icing can increase the weight of the line, change the mechanical tension distribution, cause cable vibration, and even lead to line breakage accidents. Therefore, it is necessary to timely and accurately de-ice the long-span overhead cable to ensure the safe operation of the cable. At present, laser de-icing technology is usually used, which irradiates the ice layer on the surface of the object using laser to cause the ice to melt or vaporize due to the increase in temperature, thereby effectively de-icing. However, since the long-span overhead cable is usually erected in a long-span section such as a canyon or a river, de-icing equipment needs to be deployed at both ends of the cable for de-icing. The visibility at the canyon or river location is easily affected by the weather, for example, under strong wind and heavy fog conditions in winter, the visibility of the laser de-icing equipment deployed at both ends of the cable is asymmetric. If the traditional quantitative scanning strategy is followed, problems such as missed scanning and false scanning may occur, thereby reducing the overall de-icing quality and safety.

[0053] To this end, the present application provides a long-span overhead cable de-icing method. Figure 1 The present application provides a flowchart of the long-span overhead cable de-icing method, as shown in Figure 1 The method comprises the following steps:

[0054] Step 110: acquiring a cable image of the long-span overhead cable;

[0055] Step 120: identifying an icing area of the long-span overhead cable based on the cable image;

[0056] Step 130: determining a boundary point corresponding to the direction of the first end of the cable in the icing area as a first scanning starting point, determining a scanning endpoint based on the wind influence degree of the first end relative to the second end and the relative fog concentration, and determining the icing area between the first scanning starting point and the scanning endpoint as the scanning range of the first end; wherein the greater the wind influence degree of the first end relative to the second end and / or the smaller the relative fog concentration, the greater the scanning range of the first end;

[0057] Step 140: determining a boundary point corresponding to the direction of the second end in the icing area as a second scanning starting point, and determining the icing area between the second scanning starting point and the scanning endpoint as the scanning range of the second end;

[0058] Step 150: Control the de-icing device to de-ice along the scanning range.

[0059] Specifically, in addition to de-icing equipment, sensing devices, such as visible light cameras, are deployed at both ends of long-span overhead cables to capture complete images of the overhead cable (i.e., a complete image of the entire cable line). These sensing devices have sufficient resolution and field of view to clearly capture the shape of the cable and the distribution of ice. In some embodiments, considering that the span of some overhead cables is large, the field of view of a sensing device deployed at one end may not be sufficient to cover the entire cable. Therefore, based on the single-view cable images captured by the sensing devices at both ends of the cable, combined with the spatial relative position and orientation between the sensing devices at both ends, a multi-view fusion algorithm can be used to stitch the images together to obtain a complete image of the overhead cable, thereby showing the ice distribution of the entire overhead line.

[0060] Next, based on the aforementioned cable images, the icing areas on the cable are identified. This can be achieved by combining deep learning models (such as deep learning-based convolutional neural networks) with traditional edge detection algorithms to accurately identify the cable location and icing patterns in complex backgrounds, thereby identifying the icing areas on the cable. Considering that long-span overhead cables are typically erected in canyons, rivers, and other long-span locations, where visibility is highly susceptible to weather conditions, leading to asymmetrical visibility for the laser de-icing equipment deployed at both ends of the cable, after obtaining the icing areas, it is necessary to determine the scanning start and end points of the de-icing equipment at each end to delineate the working range of each end based on real-time visibility.

[0061] Here, as Figure 2 As shown, for a long-span overhead cable with a shape that is high at both ends and low in the middle, the scanning direction of the de-icing equipment is from both ends of the cable towards the middle. Therefore, the boundary point of the icing area corresponding to the first end of the cable (e.g., the west side) can be identified and set as the first scanning starting point. Since the de-icing equipment needs to effectively identify and accurately laser scan the icing area of ​​the cable to achieve de-icing, the scanning range of the de-icing equipment is limited by the visibility at the location of the de-icing equipment. The end with higher visibility will have a larger scanning range for the de-icing task, and this visibility will be affected by atmospheric scattering caused by wind and fog. Specifically, at the windward end, fog droplets are easily dispersed by the wind, increasing air transparency and visibility; at the leeward end, air stagnates, fog droplet concentration increases, and visibility decreases significantly. Therefore, the scanning endpoint can be dynamically set by combining the wind influence of the first end relative to the second end and the relative fog concentration, thereby determining the scanning range of the first end. The greater the wind influence and / or the smaller the relative fog concentration at the first end compared to the second end, the higher the visibility at the first end is compared to the second end, and therefore the larger the scanning range at the first end.

[0062] In some embodiments, a ratio of a difference between the wind force of the first end and the wind force of the second end to the wind force of the second end can be determined as the wind force influence degree of the first end relative to the second end, and a ratio of a difference between the fog concentration of the first end and the fog concentration of the second end to the fog concentration of the second end can be determined as the relative fog concentration of the first end relative to the second end. The wind force of any end can be calculated based on the wind direction and the wind speed measured at the end to indicate the wind force on the wind surface of the end, and the fog concentration can be measured based on a professional device such as a scattering type fog measuring sensor.

[0063] In other embodiments, a weight corresponding to each of the wind force influence degree and the relative fog concentration can be set, and then a weighted algorithm can be used to calculate the scanning ratio of the first end based on the wind force influence degree of the first end relative to the second end and the weight corresponding to the wind force influence degree, and the relative fog concentration of the first end relative to the second end and the weight corresponding to the relative fog concentration. The greater the wind force influence degree of the first end relative to the second end or the smaller the relative fog concentration of the first end relative to the second end, the greater the scanning ratio of the first end. For example, the scanning ratio of the first end can be calculated using the following formula:

[0064]

[0065] wherein P1 is the scanning ratio of the first end, a is the weight of the wind force influence degree, w is the wind force influence degree of the first end relative to the second end, b is the weight of the relative fog concentration, and Fnorm is the relative fog concentration of the first end relative to the second end.

[0066] Subsequently, the scanning endpoint of the first end can be determined based on the scanning ratio of the first end, the first scanning starting point, and the range of the icing area of the large-span overhead cable (i.e., the overall deicing range), and the icing area between the first scanning starting point and the scanning endpoint is the scanning range of the first end. Here, the scanning endpoint and the scanning range can be demarcated in the cable image based on the range of the icing area in the cable image and in combination with the scanning ratio of the first end, with the first scanning starting point as the starting point. Considering that the complete cable image is spliced from the single-view cable images collected by the perception devices deployed at the two ends, the first scanning starting point and the scanning endpoint on the complete cable image can be projected into the single-view cable image of the first end based on the back projection technology, so as to obtain the scanning range in the single-view cable image of the first end, thereby controlling the deicing device deployed at the first end to deice along the scanning range in the single-view cable image of the first end.

[0067] After the scanning range of the first end is determined, the boundary point corresponding to the direction of the second end in the icing area can be determined as the second scanning starting point, and then the icing area between the second scanning starting point and the scanning endpoint is determined as the scanning range of the second end, so that the deicing device can complete the deicing task of the second end along the scanning range of the second end.

[0068] By this dynamic allocation strategy based on visibility, the scanning end points can be determined automatically, and the scanning ranges of the first end and the second end can be demarcated respectively, which can ensure that the de-icing equipment has sufficient visibility when performing de-icing tasks at both ends, avoid blind scanning in low visibility conditions, and improve the safety of de-icing tasks. In addition, through the above allocation method of scanning ranges, the scanning ranges of both ends are complementary in space, which can ensure complete coverage of the icing area and avoid overlapping work, improve de-icing efficiency and reduce energy consumption.

[0069] After the scanning ranges are demarcated, the laser de-icing equipment at both ends can be controlled to perform de-icing along the respective scanning ranges, or one laser de-icing equipment can sequentially complete the de-icing tasks at both ends, each time performing de-icing along the scanning range of one end. In some embodiments, in order to balance the de-icing efficiency and prevent over-de-icing during the de-icing process, a dynamic de-icing power control scheme as shown in FIG. 3B can be adopted: Figure 3

[0070] Step 310: When controlling the de-icing equipment to perform de-icing along the scanning range, real-time collection of visible images and infrared images of the scanned cable of the de-icing equipment is performed;

[0071] Step 320: Based on the cable width in the visible image of the scanned cable of the de-icing equipment, an evaluation result of the current de-icing effect is determined;

[0072] Step 330: Based on the cable temperature in the infrared image of the scanned cable of the de-icing equipment, an evaluation result of the current over-de-icing risk is determined;

[0073] Step 340: Based on the evaluation result of the current de-icing effect or the evaluation result of the current over-de-icing risk, the de-icing power of the de-icing equipment is determined.

[0074] Specifically, during the laser de-icing process of the de-icing equipment along the planned scanning range, the device synchronously acquires visible images and infrared images of the scanned cable. On the one hand, the visible image reflects the geometric profile and optical appearance features of the cable surface after de-icing. By analyzing the cable width parameter in the visible image, the current de-icing effect can be evaluated. Here, under the icing state, the cable outer diameter increases and the profile is blurred; and as the ice layer is stripped, the actual width of the cable gradually approaches its design value. Therefore, by comparing the real-time detected cable width with the pre-stored standard cable diameter, the ice removal degree of the current paragraph and the current residual ice amount can be determined, and the current de-icing effect can be evaluated. For example, the difference between the current cable width and the standard cable diameter, and the ratio between the current cable width and the standard cable diameter, can be determined as the current residual ice amount.

[0075] ​On the other hand, the deicing device also collects the infrared image of the scanned cable in real time through the infrared imaging module. The physical principle of laser deicing is based on the thermal stripping effect of high-energy pulses on the ice layer. However, if the power is too large and the time is too long, the cable body may overheat due to excessive heat absorption, causing loose fittings, annealing of conductors, and even safety accidents. Therefore, by monitoring the temperature change of the cable in real time using infrared images and comparing the real-time temperature with the set safety temperature threshold, it can be determined whether there is an excessive deicing risk.

[0076] Based on the evaluation result of the current deicing effect or the evaluation result of the current excessive deicing risk, the deicing power of the deicing device can be dynamically adjusted. If the evaluation result of the current deicing effect indicates that the current residual ice amount is below the preset threshold, i.e., the cable width is close to the standard value, it is determined that the section has completed effective deicing and there is no need to continue to apply high-power laser. If the evaluation result of the current deicing effect indicates that the current residual ice amount is higher than the preset threshold, it indicates that there is still a large amount of residual ice, and the deicing power needs to be appropriately increased for continuous operation. In addition, when the evaluation result of the current excessive deicing risk indicates that there is an excessive deicing risk, the system will reduce the deicing power of the deicing device, thereby avoiding overheating of the line.

[0077] It can be seen that by combining the deicing efficiency monitoring of real-time visual images with the temperature monitoring of infrared images, intelligent power adjustment during deicing is achieved. On the one hand, through visual image feedback, the thoroughness of deicing is ensured, and the problem of residual ice caused by insufficient energy is avoided. On the other hand, through infrared image feedback, the safety risk of overheating of the conductor is effectively prevented, and a dynamic balance between efficiency and safety is achieved.

[0078] In other embodiments, since long-span overhead cables are often installed in valleys, rivers, and other areas, they may sway to varying degrees during operation due to wind. The traditional fixed-speed laser scanning method may deviate from the target when the cable sways, resulting in local residual ice or laser misillumination of other components, reducing deicing efficiency and increasing safety risks. To solve this problem, a dynamic scanning speed adjustment mechanism can be introduced, as shown in FIG. Figure 4

[0079] Step 410, when controlling the deicing device to deice along the scanning range, real-time collection of multiple visual images of the current deicing position is performed, and based on the displacement of each point of the cable in the multiple visual images, the sway amplitude of each point of the cable at the current deicing position is determined.

[0080] Step 420, based on the sway amplitude of each point of the cable at the current deicing position, the scanning speed of each point of the cable at the current deicing position is set, so that the deicing device performs laser scanning on the corresponding points based on the scanning speed of each point of the cable at the current deicing position. ​

[0081] Specifically, the perception device can continuously collect multiple visual images of the same deicing position at a high frame rate, track the positions of each point of the cable in the images through feature matching or optical flow analysis algorithm, calculate the displacement changes of each point in the time sequence, and thus obtain the swing amplitude of each point. For the cable positions with large swing amplitudes, if the laser deicing is still performed at a fixed scanning speed, the relative motion between the laser beam and the target surface is too fast or too slow, which may both lead to incomplete deicing or uneven heat accumulation, thereby affecting the deicing effect and safety. Therefore, in order to improve the deicing effect and ensure the safety of the cable, the scanning speed of each point at the current deicing position can be set according to the swing amplitude of each point calculated in real time.

[0082] wherein a scanning speed adjustment function can be defined to calculate the deceleration ratio of each point of the cable at the current deicing position based on the swing amplitude of each point of the cable at the current deicing position. The design principle of the scanning speed adjustment function is that when the swing amplitude increases, the scanning speed should be reduced to ensure that the effective time of the laser in contact with the cable is sufficient, and thus the greater the swing amplitude of any point of the cable, the greater the deceleration ratio of the point. For example, the following scanning speed adjustment function can be used:

[0083]

[0084] wherein the value of f(x) is the deceleration ratio of point x, k is a preset coefficient, and I(x) is the swing amplitude of point x. In some embodiments, the value of k ranges from 0.5 to 0.75, and the specific value of k can be set based on the current deicing accuracy requirement, the performance of the scanning device (e.g., the deicing efficiency of the scanning device), and the environmental temperature. For example, the higher the deicing accuracy requirement, the lower the performance of the scanning device, or the lower the environmental temperature, the lower the value of k can be, which is not specifically limited in the embodiments of the present application.

[0085] Finally, the scanning speed of each point of the cable is independently adjusted according to its real-time swing condition, ensuring that the laser beam can still accurately aim at the icing area in the relative motion. Specifically, the scanning speed of each point of the cable at the current deicing position can be determined based on the preset scanning speed and the deceleration ratio of each point of the cable, for example, using the following formula to determine the scanning speed of each point of the cable:

[0086]

[0087] wherein v(x) is the scanning speed of point x, and v0 is the preset scanning speed.

[0088] It can be seen that, by real-time detection of cable shaking, adjusting the scanning speed of each point based on the shaking amplitude of each point of the cable, the laser deicing trajectory has environmental self-adaptive ability, can reduce missed scanning and false scanning, improve the overall deicing rate, and through local scanning speed adjustment, reduce the problem of uneven energy distribution caused by relative movement of the cable and the laser beam, effectively avoid the phenomenon of incomplete peeling of ice layer in some areas and overheating in some areas, and improve the safety and reliability of deicing operation.

[0089] In some other embodiments, before the deicing device starts scanning, the scanning mode can be set according to the special scene of the cable and the deicing requirement. For example, at the position of the weak point of the ice layer, the deicing device is adjusted to pulse mode; at other positions, continuous mode or quasi-continuous mode can be used. Among them, the pulse mode can provide more accurate energy output at the weak point to avoid damage to the cable caused by excessive deicing; the continuous mode or quasi-continuous mode can improve the deicing efficiency at other positions. Therefore, during the deicing process, not only can the scanning speed be set based on the real-time collected visual image of the current deicing position, but also whether the current position contains a weak point of the ice layer can be identified based on the visual image, and the mode of the deicing device is switched to pulse mode at the position corresponding to the weak point of the ice layer.

[0090] In addition, the laser deicing system is used in the whole deicing process. The laser wavelength of the existing laser deicing system is limited to the 10.6 μm band (CO2 gas laser), the 0.9-1.1 μm band (Nd:YAG solid-state laser, industrial fiber laser, and high-power semiconductor laser), and the 0.532 μm green light band obtained by frequency doubling of the Nd:YAG solid-state laser. The absorption coefficients of pure ice for different wavelengths of laser are different. The laser band with a large absorption coefficient can be absorbed by ice more quickly, causing a temperature rise, and the penetration depth in the ice layer is smaller, which results in different deicing effects of different wavelengths of laser. Among them, the green light is almost not absorbed in the ice layer and directly penetrates the ice layer, basically unable to produce a heating effect; the 0.9-1.1 μm band laser is absorbed completely after propagating a few centimeters in the ice layer; and the 10.6 μm band laser is completely absorbed on the surface of the ice layer. In addition, the absorption coefficients of ice for the 0.532 μm green light and the 0.9-1.1 μm band laser wavelength are small. After the transmission of these lasers in the ice layer, the lasers directly irradiate the surface of the object, which may cause damage to the material of the object, especially that these bands of laser are widely used in the cutting and welding of metal materials, and the damage to the metal material is more. Therefore, these bands of laser are not suitable for removing ice on high-voltage transmission cables. Although the absorption coefficient of ice for the 10.6 μm band laser is high, the laser utilization efficiency is high during deicing, but the CO2 gas laser on the market for generating this band of laser has many disadvantages such as large volume, difficult to carry, the need for regular replacement of gas and lenses, not suitable for flexible applications, low electrical-optical conversion efficiency, high power consumption, and large heat dissipation.

[0091] To overcome the above-mentioned deficiencies, the deicing equipment used when deicing the large-span overhead cable in the embodiments of the present application uses infrared laser with a wavelength in the range of 1.9-2.12 μm. This band of laser can be efficiently absorbed by ice and will not cause damage to the cable due to transmission. Specifically, the laser light source of the deicing equipment outputs infrared laser with a wavelength in the range of 1.9-2.12 μm, which enters the laser aiming and focusing system after transmission through a fiber optic cable. The output laser beam is focused to the ice position. A high-precision camera coaxial with the optical path of the output laser beam is used to observe the laser irradiation position in real time, so as to avoid damage to the cable surface under the ice caused by the laser. Then, the output azimuth pointing angle of the laser aiming and focusing system is adjusted by the electrically controlled gimbal, so that the laser scans the ice area along the scanning range of the two ends. The type of the laser light source includes but is not limited to thulium-doped continuous fiber laser, thulium-doped quasi-continuous fiber laser, thulium-doped MOPA fiber laser, 2 μm fiber-coupled semiconductor laser, thulium-holmium co-doped fiber (Tm, Ho:YAG or Tm, Ho:YLF) laser, and Ho:YAG laser, etc.

[0092] In summary, the method provided by the embodiment of the present application collects the cable image of the long-span overhead cable, identifies the icing area of the long-span overhead cable based on the cable image, determines the boundary point corresponding to the first end direction of the cable in the icing area as the first scanning starting point, sets the scanning endpoint based on the wind influence degree and relative mist concentration of the first end relative to the second end, and determines the icing area between the first scanning starting point and the scanning endpoint as the scanning range of the first end, thereby determining the boundary point corresponding to the second end direction in the icing area as the second scanning starting point, and determining the icing area between the second scanning starting point and the scanning endpoint as the scanning range of the second end, and controlling the deicing device to deice along the scanning range, so as to realize intelligent adjustment of the scanning proportion of the deicing devices at the two ends of the cable, so that the end with higher visibility undertakes a larger proportion of the deicing task, and the end with lower visibility reduces the task load, thereby ensuring the safety and effectiveness of the deicing task under complex weather conditions such as wind and mist.

[0093] The long-span overhead cable deicing device provided by the present application is described below, and the long-span overhead cable deicing device described below can be referred to in correspondence with the long-span overhead cable deicing method described above.

[0094] Figure 5 is a structural schematic diagram of the long-span overhead cable deicing device provided by the present application, as Figure 5 The device comprises:

[0095] The image acquisition unit 510 is configured to acquire a cable image of the long-span overhead cable.

[0096] The icing area identification unit 520 is configured to identify an icing area of the long-span overhead cable based on the cable image.

[0097] The first scanning range setting unit 530 is configured to determine a boundary point corresponding to the first end direction of the cable in the icing area as a first scanning starting point, determine a scanning endpoint based on the wind influence degree and relative mist concentration of the first end relative to the second end, and determine the icing area between the first scanning starting point and the scanning endpoint as the scanning range of the first end.

[0098] The second scanning range setting unit 540 is configured to determine a boundary point corresponding to the second end direction in the icing area as a second scanning starting point, and determine the icing area between the second scanning starting point and the scanning endpoint as the scanning range of the second end.

[0099] The deicing unit 550 is configured to control the deicing device to deice along the scanning range.

[0100] The device provided by the embodiment of the present application collects the cable image of the long-span overhead cable, identifies the icing area of the long-span overhead cable based on the cable image, determines the boundary point corresponding to the first end direction of the cable in the icing area as the first scanning starting point, sets the scanning endpoint based on the wind influence degree of the first end relative to the second end and the relative mist concentration, and determines the icing area between the first scanning starting point and the scanning endpoint as the scanning range of the first end, so as to determine the boundary point corresponding to the second end direction in the icing area as the second scanning starting point, and determine the icing area between the second scanning starting point and the scanning endpoint as the scanning range of the second end, and control the deicing device to deice along the scanning range, so as to realize intelligent adjustment of the scanning proportion of the deicing devices at the two ends of the cable, make the end with higher visibility undertake a larger proportion of deicing task, and reduce the task load of the end with lower visibility, thereby ensuring the safety and effectiveness of the deicing task under complex weather conditions such as wind and mist.

[0101] According to any one of the above embodiments, the scanning endpoint is determined based on the wind influence degree of the first end relative to the second end and the relative mist concentration.

[0102] The scanning proportion of the first end is calculated based on the wind influence degree of the first end relative to the second end and the weight thereof, and the relative mist concentration of the first end relative to the second end and the weight thereof; the greater the wind influence degree of the first end relative to the second end or the smaller the relative mist concentration, the greater the scanning proportion of the first end.

[0103] The scanning endpoint is determined based on the scanning proportion of the first end, the first scanning starting point, and the range of the icing area of the long-span overhead cable.

[0104] According to any one of the above embodiments, the device further comprises a power adjustment unit for:

[0105] When the deicing device is controlled to deice along the scanning range, the visible image and the infrared image of the cable scanned by the deicing device are collected in real time.

[0106] The evaluation result of the current deicing effect is determined based on the cable width in the visible image of the cable scanned by the deicing device.

[0107] The evaluation result of the current over-deicing risk is determined based on the cable temperature in the infrared image of the cable scanned by the deicing device.

[0108] The deicing power of the deicing device is determined based on the evaluation result of the current deicing effect or the evaluation result of the current over-deicing risk.

[0109] In any of the above embodiments, the determining of the deicing power of the deicing device based on the evaluation result of the current deicing effect or the evaluation result of the current over-deicing risk comprises:

[0110] If the evaluation result of the current deicing effect indicates that the current residual ice amount is higher than a preset threshold, the deicing power of the deicing device is increased.

[0111] If the evaluation result of the current over-deicing risk indicates that there is a current over-deicing risk, the deicing power of the deicing device is decreased.

[0112] In any of the above embodiments, the device further comprises a scanning speed adjusting unit configured to:

[0113] collect a plurality of visual images of the current deicing position in real time when the deicing device deices along the scanning range, and determine the shaking amplitude of each point of the cable at the current deicing position based on the displacement of each point of the cable in the plurality of visual images.

[0114] set the scanning speed of each point of the cable at the current deicing position based on the shaking amplitude of each point of the cable at the current deicing position, so that the deicing device performs laser scanning on the corresponding point based on the scanning speed of each point of the cable at the current deicing position, respectively.

[0115] In any of the above embodiments, the setting of the scanning speed of each point of the cable at the current deicing position based on the shaking amplitude of each point of the cable at the current deicing position comprises:

[0116] calculating a deceleration ratio of each point of the cable at the current deicing position based on the shaking amplitude of each point of the cable at the current deicing position, wherein the greater the shaking amplitude of any point of the cable, the greater the deceleration ratio of the any point.

[0117] determining the scanning speed of each point of the cable at the current deicing position based on the preset scanning speed and the deceleration ratio of each point of the cable.

[0118] In any of the above embodiments, the deicing device deices along the scanning range based on infrared laser with a wavelength in the range of 1.9-2.12 μm.

[0119] In any of the above embodiments, the device further comprises a mode adjusting unit configured to:

[0120] collect a visual image of the current deicing position in real time during the process of deicing along the scanning range by the deicing device in a continuous mode or a quasi-continuous mode.

[0121] identify the ice layer weak point from the visual image.

[0122] If the ice layer weak point exists in the visual image, the deicing device is adjusted to the pulse mode at the ice layer weak point.

[0123] Figure 6 is a structural schematic diagram of an electronic device provided by the present application, as Figure 6 shown, the electronic device can include a processor 610, a memory 620, a communications interface 630, and a communications bus 640, wherein the processor 610, the memory 620, and the communications interface 630 complete mutual communication through the communications bus 640. The processor 610 can invoke a logical instruction in the memory 620 to execute a large-span overhead cable deicing method, which includes: collecting a cable image of the large-span overhead cable; identifying an icing area of the large-span overhead cable based on the cable image; determining a boundary point corresponding to a first end direction of the cable in the icing area as a first scanning starting point, determining a scanning endpoint based on a wind force influence degree of the first end relative to a second end and a relative mist concentration, and determining an icing area between the first scanning starting point and the scanning endpoint as a scanning range of the first end; wherein the greater the wind force influence degree of the first end relative to the second end and / or the smaller the relative mist concentration, the greater the scanning range of the first end; determining a boundary point corresponding to a second end direction in the icing area as a second scanning starting point, and determining an icing area between the second scanning starting point and the scanning endpoint as a scanning range of the second end; and controlling a deicing device to deice along the scanning range.

[0124] In addition, the logical instruction in the memory 620 described above can be implemented in the form of a software functional unit and sold or used as an independent product, which can be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0125] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, enable the computer to perform the ice removal method for long-span overhead cables as provided by the above-mentioned methods, the method comprising: acquiring a cable image of the long-span overhead cable; identifying an icing area of the long-span overhead cable based on the cable image; determining a boundary point corresponding to a first end direction of the cable in the icing area as a first scanning starting point, determining a scanning endpoint based on a wind influence degree of the first end relative to a second end and a relative mist concentration, and determining an icing area between the first scanning starting point and the scanning endpoint as a scanning range of the first end; wherein the greater the wind influence degree of the first end relative to the second end and / or the smaller the relative mist concentration, the greater the scanning range of the first end; determining a boundary point corresponding to a second end direction in the icing area as a second scanning starting point, and determining an icing area between the second scanning starting point and the scanning endpoint as a scanning range of the second end; and controlling an ice removal device to perform ice removal along the scanning range.

[0126] In yet another aspect, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the ice removal method for long-span overhead cables as provided by the above-mentioned methods, the method comprising: acquiring a cable image of the long-span overhead cable; identifying an icing area of the long-span overhead cable based on the cable image; determining a boundary point corresponding to a first end direction of the cable in the icing area as a first scanning starting point, determining a scanning endpoint based on a wind influence degree of the first end relative to a second end and a relative mist concentration, and determining an icing area between the first scanning starting point and the scanning endpoint as a scanning range of the first end; wherein the greater the wind influence degree of the first end relative to the second end and / or the smaller the relative mist concentration, the greater the scanning range of the first end; determining a boundary point corresponding to a second end direction in the icing area as a second scanning starting point, and determining an icing area between the second scanning starting point and the scanning endpoint as a scanning range of the second end; and controlling an ice removal device to perform ice removal along the scanning range.

[0127] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0128] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0129] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of de-icing a long span overhead power cable, characterized by, The method comprises: collecting a cable image of the long-span overhead cable; identifying an icing area of the long-span overhead cable based on the cable image; determining a boundary point corresponding to a first end direction of the icing area as a first scanning starting point, determining a scanning endpoint based on a wind influence degree of the first end relative to a second end and a relative fog concentration, and determining an icing area between the first scanning starting point and the scanning endpoint as a scanning range of the first end; the greater the wind influence degree of the first end relative to the second end and / or the smaller the relative fog concentration, the greater the scanning range of the first end; determining a boundary point corresponding to a second end direction of the icing area as a second scanning starting point, and determining an icing area between the second scanning starting point and the scanning endpoint as a scanning range of the second end; controlling the deicing device to deice along the scanning range.

2. The method of de-icing a long span overhead electric cable according to claim 1, characterized in that, The method further comprises: determining a scanning proportion of the first end based on the wind influence degree of the first end relative to the second end and a weight thereof, and the relative fog concentration of the first end relative to the second end and a weight thereof; the greater the wind influence degree of the first end relative to the second end or the smaller the relative fog concentration, the greater the scanning proportion of the first end; determining the scanning endpoint based on the scanning proportion of the first end, the first scanning starting point, and the range of the icing area of the long-span overhead cable.

3. The method of de-icing a long span overhead electric cable according to claim 1, characterized in that, The method further comprises: controlling the deicing device to deice along the scanning range, and collecting a visible image and an infrared image of the cable scanned by the deicing device in real time; determining an evaluation result of a current deicing effect based on a cable width in the visible image of the cable scanned by the deicing device; determining an evaluation result of a current over-deicing risk based on a cable temperature in the infrared image of the cable scanned by the deicing device; determining a deicing power of the deicing device based on the evaluation result of the current deicing effect or the evaluation result of the current over-deicing risk.

4. The method of de-icing a long span overhead electric cable according to claim 3, characterized in that, The method further comprises: if the evaluation result of the current deicing effect indicates that a current residual ice amount is higher than a preset threshold, increasing the deicing power of the deicing device; if the evaluation result of the current over-deicing risk indicates that there is a current over-deicing risk, decreasing the deicing power of the deicing device.

5. The method of de-icing a long span overhead electric cable according to claim 1, characterized in that, The method further comprises: controlling the deicing device to deice along the scanning range, collecting a plurality of visible images of a current deicing position in real time, and determining a shaking amplitude of each point of the cable at the current deicing position based on a displacement of each point of the cable in the plurality of visible images; based on the shaking amplitude of each point of the cable at the current deicing position, setting a scanning speed of each point of the cable at the current deicing position, so that the deicing device performs laser scanning on the corresponding point based on the scanning speed of each point of the cable at the current deicing position, respectively.

6. The method of de-icing a long span overhead electric cable according to claim 5, characterized in that, The method further comprises: Based on the sway amplitude of the cable at the current de-icing location, calculate the deceleration ratio of the cable at each point at the current de-icing location; wherein, the greater the sway amplitude of any point on the cable, the greater the deceleration ratio of that point. Based on the preset scanning speed and the deceleration ratio of each point on the cable, the scanning speed of each point on the cable at the current de-icing location is determined.

7. The method of de-icing a long-span overhead electric cable according to any one of claims 1 to 6, characterized in that, The de-icing device performs de-icing along the scanning range based on infrared laser with a wavelength in the range of 1.9-2.12 μm.

8. The method of de-icing a long-span overhead electric cable according to any one of claims 1 to 6, characterized in that, The method further includes: During the process of controlling the de-icing device to de-ic along the scanning range in continuous or quasi-continuous mode, a visual image of the current de-icing position is acquired in real time. Identify weak points in the ice layer from the visual image; If there are weak points in the ice layer in the visual image, the de-icing device is adjusted to pulse mode at the weak points in the ice layer.

9. A large span overhead cable de-icing device, characterized by, include: An image acquisition unit is used to acquire cable images of the long-span overhead cable; An icing area identification unit is used to identify the icing area of ​​the long-span overhead cable based on the cable image. The first scanning range setting unit is used to determine the boundary point in the direction of the first end of the cable in the icing area as the first scanning start point, determine the scanning end point based on the wind influence of the first end relative to the second end and the relative fog concentration, and determine the icing area between the first scanning start point and the scanning end point as the scanning range of the first end; wherein, the greater the wind influence of the first end relative to the second end and / or the smaller the relative fog concentration, the larger the scanning range of the first end. The second scanning range setting unit is used to determine the boundary point in the icing area corresponding to the second end direction as the second scanning start point, and to determine the icing area between the second scanning start point and the scanning end point as the scanning range of the second end; The de-icing unit is used to control the de-icing equipment to de-ic along the scanning range.

10. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the long-span overhead cable de-icing method as described in any one of claims 1 to 7.

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