CN115014216A - Method and device for detecting icing of power transmission line - Google Patents
Method and device for detecting icing of power transmission line Download PDFInfo
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Abstract
The application discloses a method and a device for detecting icing of a power transmission line, which are used for solving the technical problem that the existing icing detection method cannot truly reflect the icing thickness of the power transmission line. The method comprises the following steps: the intelligent control module acquires historical current data of the power transmission line from the control center, and determines current data of the same day corresponding to the power transmission line of one phase which is connected with the induction power taking module in a hanging mode based on the historical current data; determining the shooting frequency of the visible light camera according to the current data of the current of the day so as to control the start and stop of the visible light camera; after the visible light camera shoots image data corresponding to the power transmission line, sending the image data to the intelligent control module; the intelligent control module identifies the image data and starts the laser radar after determining that the icing conductor exists in the image data; the method comprises the following steps that a laser radar collects point cloud data corresponding to an icing conductor and sends the point cloud data to an intelligent control module; and the intelligent control module calculates the icing thickness through point cloud data.
Description
Technical Field
The application relates to the technical field of power transmission lines, in particular to a method and a device for detecting icing of a power transmission line.
Background
In cold winter, icing easily occurs on the power transmission line, so that an icing conductor appears in the power transmission line, and if the icing conductor is not detected and processed in time, the safe operation of the power transmission line is influenced, and even the safe power utilization of residents and enterprises is influenced.
The conventional method for detecting the icing of the wire is mainly realized by an icing monitoring station, icing monitoring based on a mathematical model, icing monitoring based on image comparison and the like, but the accuracy of the icing detection cannot be ensured in the realization processes, namely the real icing thickness of the power transmission line cannot be accurately reflected.
Disclosure of Invention
The embodiment of the application provides a method and a device for detecting icing of a power transmission line, which are used for solving the technical problem that the existing icing detection method cannot truly reflect the icing thickness of the power transmission line.
On one hand, the embodiment of the application provides a method for detecting icing of a power transmission line, and the method comprises the following steps: the intelligent control module acquires historical current data of the power transmission line from a control center, and determines current data of the same day corresponding to the power transmission line of one phase which is connected with the induction power taking module in a hanging mode based on the historical current data; the intelligent control module determines the shooting frequency of the visible light camera according to the current data of the current of the day, and controls the start and stop of the visible light camera based on the shooting frequency; after the visible light camera shoots image data corresponding to the power transmission line, sending the image data to the intelligent control module; the intelligent control module identifies the image data and starts a laser radar after determining that the image data contains the icing conductor; the laser radar collects point cloud data corresponding to the ice-coated wire and sends the point cloud data to the intelligent control module; and the intelligent control module calculates the icing thickness corresponding to the icing conductor through the point cloud data.
In one or more embodiments of the present specification, the intelligent control module determines a shooting frequency of the visible light camera according to the current data of the current day, and specifically includes: the intelligent control module determines the current day induction energy of the induction power taking module according to the current data of the current day; determining shooting power consumption corresponding to the visible light camera, and calculating a proportion relation between the shooting power consumption and the current day induction energy; and determining the day shooting frequency corresponding to the visible light camera according to the ratio relation.
In one or more embodiments of this application description, confirm the day induction energy of induction electricity-taking module specifically includes: the intelligent control module is controlled by a formula
Calculating to obtain the current day induction energy; wherein, I 1 For the current data of the current of the day, N 1 Is the number of turns of the transmission line, I 2 As induced current data, N 2 The number of turns of the induction power taking module is, and R is the internal resistance of the induction power taking module.
In one or more embodiments of the present specification, the intelligent control module performs recognition processing on the image data, and specifically includes: the intelligent control module inputs the image data into an ice-coated wire recognition model through an input layer of the ice-coated wire recognition model so as to recognize the ice-coated wires in the image data through the ice-coated wire recognition model; before inputting the image data into the iced conductor identification model, the method further comprises: collecting a plurality of image data related to the ice-coated conducting wires to construct a training data set; and training a preset neural network model through the training data set to obtain the ice-coated wire identification model.
In one or more embodiments of the present specification, the intelligent control module calculates an ice coating thickness corresponding to the ice coating conductor through the point cloud data, and specifically includes: the intelligent control module extracts point cloud data corresponding to the icing conductor from the point cloud data; wherein the point cloud data is in the form of three-dimensional coordinates; determining the shape corresponding to the ice-coated wire according to the point cloud data corresponding to the ice-coated wire; when the shape corresponding to the ice-coated wire is a regular circle, calculating the diameter corresponding to the ice-coated wire through the point cloud data corresponding to the ice-coated wire; obtaining the diameter of an original wire corresponding to the ice-coated wire from the control center, and calculating the difference between the diameter of the original wire and the diameter corresponding to the ice-coated wire; determining 1/2 of the difference value as the corresponding ice coating thickness of the ice coated conducting wire; when the shape corresponding to the icing conductor is not a regular circle, determining the maximum icing point corresponding to the icing conductor and the central point of the diameter corresponding to the icing conductor according to the point cloud data corresponding to the icing conductor; and calculating a distance value between the maximum icing point and the central point of the diameter, and determining the distance value as the icing thickness corresponding to the icing conductor.
In one or more embodiments of the present specification, after the intelligent control module performs the identification process on the image data, the method further includes: the intelligent control module identifies a power transmission hidden danger target contained in the image data through a power transmission hidden danger identification model; the power transmission hidden danger targets at least comprise trees and construction vehicles; starting a laser radar to scan the power transmission line to obtain point cloud data corresponding to the power transmission hidden danger target; and calculating the hidden danger distance between the power transmission hidden danger target and the power transmission line according to the point cloud data corresponding to the power transmission hidden danger target.
In one or more embodiments of the present description, the method further comprises: the intelligent control module sends alarm information to the control center when the icing thickness is larger than a preset thickness threshold value or the hidden danger distance is larger than a preset distance threshold value; the warning information at least includes the icing thickness or the hidden danger distance.
On the other hand, this application embodiment still provides a transmission line icing detection device, the device includes: the intelligent control module is used for acquiring historical current data of the power transmission line from a control center and determining current data of the same day corresponding to one phase of power transmission line which is connected with the induction power taking module in an articulated manner based on the historical current data; the intelligent control module is further used for determining the shooting frequency of the visible light camera according to the current data of the current day and controlling the start and stop of the visible light camera based on the shooting frequency; the visible light camera is used for sending the image data to the intelligent control module after shooting the image data corresponding to the power transmission line; the intelligent control module is further used for identifying the image data and starting a laser radar after determining that the icing conductor exists in the image data; the laser radar is used for collecting point cloud data corresponding to the ice-coated wire and sending the point cloud data to the intelligent control module; the intelligent control module is further used for calculating the icing thickness corresponding to the icing conductor through the point cloud data.
In one or more embodiments of the present description, the apparatus further comprises a pan-tilt; the holder is connected with the intelligent control module, and meanwhile, the visible light camera and the laser radar are mounted on the holder, so that the visible light camera and the laser radar are driven to rotate through the rotation of the holder; be provided with heating device on the cloud platform shell inner wall to when cloud platform temperature is less than preset temperature threshold value, it is right the cloud platform carries out periodic heating, prevents that the cloud platform from freezing.
In one or more embodiments of the present description, the apparatus further comprises a temperature and humidity sensor; the temperature and humidity sensor is connected with the intelligent control module and used for acquiring the ambient temperature and the ambient humidity, and when the ambient temperature is lower than a preset temperature threshold value and the ambient humidity is higher than a preset humidity threshold value, the lens heating function of the visible light camera and the whole machine heating function of the ice coating detection device are triggered and started; the lens heating function is realized through a micro heating device arranged on the visible light camera lens, and the complete machine heating function is realized through a heating device arranged in the ice coating detection device.
According to the method and the device for detecting the icing of the power transmission line, electricity is obtained through current induction, the integration technology of a two-dimensional image monitoring shooting, three-dimensional point cloud three-dimensional scanning and cloud platform control integrated device is adopted, the conventional icing detection functions of the power transmission line, insulators and the like are realized, the icing thickness of the power transmission line is measured in a mode of combining the images and the point cloud, the accuracy of a measurement result is ensured, the working mode of each module in the device is automatically adjusted by adopting a dynamic energy obtaining prediction technology, the device is enabled to be in the best monitoring frequency, the detection level of hidden dangers of power transmission is improved, the cloud platform heating technology is adopted at low temperature to prevent cloud platform equipment from being frozen, the reliability of the equipment in a severe environment is improved, the icing monitoring precision and the management level of the power transmission line are improved, and the device has great practical value.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart of a method for detecting icing on a power transmission line according to an embodiment of the present disclosure;
fig. 2 is a structural diagram of an ice coating detection device for a power transmission line according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to grasp the icing condition of the power transmission line, the following conventional detection methods exist in the prior art:
1. an icing observation station: and arranging an ice coating observation station in an ice coating serious area, and erecting a simulation lead. The method is simple in principle and easy to operate.
2. The power transmission line icing detection method based on the mechanical model comprises the following steps: information such as gravity change of a wire, an inclination angle of a pole tower insulator, wire galloping frequency, temperature, wind speed, wind direction, rainfall and the like of a line site is obtained through various sensors arranged on the power transmission line, a mathematical model is built to approximately calculate the equivalent ice coating thickness of the current wire, and online monitoring of ice coating of the power transmission line is realized.
3. Monitoring the thickness of a wire and an insulating layer coated with ice by a video image method: and a camera arranged on the monitoring terminal is used for instantly obtaining images before and after the ice coating of the power transmission line, obtaining the profile difference of the power transmission line before and after the ice coating according to the images, and obtaining the ice coating thickness by using the corresponding relation.
However, the above methods have the following disadvantages:
1. an icing observation station: the method is mostly built in the great mountains and hills, the cost is high, the danger is high, and because factors influencing the power transmission line are complex, the simulation wire cannot accurately reflect the real icing thickness of the power transmission line.
2. The power transmission line icing detection method based on the mechanical model comprises the following steps: according to the method, the measuring device and the measuring principle are complex, the transformation is difficult, a customer can accept the method when a new line is built, and when an old line is transformed, the power grid is required to be cut off when a sensor is replaced, so that the normal operation of a power device is influenced. The sensor works for a long time, the precision is influenced, the reliability is poor, and because the method is to establish a simplified mathematical model and obtain the current wire icing thickness by a simulation analysis method, the obtained icing thickness has a great relation with the selected mathematical model, the models are different, the obtained icing thickness possibly has a great difference, and the accuracy of the determined icing thickness cannot be ensured.
3. Monitoring the thickness of ice coated on a lead and an insulator by a video image method: the method has the advantages that the method adopts images and videos to acquire the ice coating images of the conducting wires to become a main ice coating monitoring operation and maintenance mode of the power transmission line, the environment background is complex, the problem that the boundary is not well defined during image extraction is likely to occur, and the distance measurement precision is affected; if the pure lens heating is in severe cold weather such as continuous overcast and rainy days, problems can occur, and equipment can be frozen and cannot work; the method is suitable for lines with even ice coating in a single-line radar ranging estimation mode, and the accuracy is poor if the ice coating is not even.
Therefore, the embodiment of the application provides a method and a device for detecting icing on a power transmission line, and the icing thickness is calculated by combining two-dimensional image data and three-dimensional point cloud data, so that the technical problem that the accuracy of the result cannot be ensured by the conventional icing thickness measuring method is solved.
The technical solutions proposed in the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for detecting icing on a power transmission line according to an embodiment of the present disclosure. As shown in fig. 1, the icing detection method provided in the embodiment of the present application mainly includes the following steps:
The icing detection method provided by the embodiment of the application is realized through the icing detection device, namely, the execution main body of each step in the icing detection method is a module or equipment in the icing detection device.
Further, before icing detection begins, an intelligent control module of the icing detection device can determine the power which can be acquired by the induction power-taking module according to the current data of the power transmission line on the day, and then calculate the induction energy of the power module on the day.
Specifically, the induction power taking module acquires the previous-year transmission current data corresponding to the power transmission line from the background control center, and then finds the current data corresponding to the current day of the previous year from the current data of the previous year. Then, the properties of the mutual inductor in the induction electricity-taking module can be obtained according to the following steps: the current relationship of the primary and secondary windings of the transformer is as follows:
I 1 /I 2 ＝N 2 /N 1
wherein, I 1 Is primary side current, i.e. current data of the day of the transmission line, I 2 Is a secondary side induced current, N 1 For the number of transmission line turns, here 1, N 2 The number of turns wound on the power-taking magnetic core is shown.
It can be obtained that the power obtained at the secondary side is:
wherein, R is the internal resistance corresponding to the induction power-taking module, and can be generally determined according to the model of the induction power-taking module.
Through the power of acquireing, can calculate the current day induction energy W that the induction electricity-taking module acquireed and be:
after the current day induction energy is obtained, the shooting power consumption corresponding to the visible light camera is continuously determined, and then the current day shooting frequency corresponding to the visible light camera is determined according to the proportion relation between the shooting power consumption and the current day induction energy.
In one example of the present application, the ice coating detection device is operated according to the operating conditions of the ice coating detection device and the current dayAnd the image information enables the stable coefficient relationship between the acquired energy W and the consumed energy W20 to be maintained, so that the device can obtain the optimal frequency monitoring, the empty window period of the device monitoring is reduced to the maximum extent, and the inspection efficiency is improved. Specifically, assume that the device consumes W in standby power 21 The power consumption of the timing monitoring and analyzing function of the visible light camera is W 22 Once power consumption of laser radar scanning is W 23 The real-time video analysis power consumption of the visible light camera is W 24 The power consumption of the heating function of the tripod head is W 25 The heating power consumption of the lens of the visible light camera is W 26 Then the total power consumption consumed by the device is W 20 ：
W 20 ＝aW 21 +bW 22 +cW 23 +dW 24 +eW 25 +fW 26
Wherein, a b c d e f is a coefficient, and the function is 1 when the function is started and 0 when the function is not started. In the device in-service use process, can be according to opening and closing of weather information adjustment function on the same day to guarantee the high efficiency of device and patrol and examine, avoid the device crash simultaneously.
And 102, shooting the power transmission line by the visible camera through shooting frequency.
After the shooting frequency corresponding to the visible light camera is determined, the intelligent control module can control the start and stop of the visible light camera through the shooting frequency, that is, the monitoring time and the stopping monitoring time of the visible light camera are determined according to the shooting frequency.
When the visible light camera monitors the power transmission line, image data of the power transmission line are collected and transmitted to the intelligent control module.
And 103, the intelligent control module starts a laser radar to scan the power transmission line by identifying image data shot by the visible light camera.
After receiving the image data transmitted by the visible light camera, the intelligent control module identifies the image data, and identifies the power transmission hidden trouble or the icing conductor contained in the image data.
Specifically, the intelligent control module inputs the image data into an ice-coated wire identification model through an input layer of the ice-coated wire identification model so as to identify the ice-coated wire in the image data through the ice-coated wire identification model; before the identification process is performed, training an ice-covered wire identification model, specifically, collecting a plurality of image data related to the ice-covered wire to construct a training data set; and training a preset neural network model through the training data set to obtain the ice-coated wire identification model. In one example of the present application, the neural network model may employ an RNN convolutional neural network model.
Further, after the intelligent control module determines that the icing conductor exists in the image data collected by the visible light camera, the laser radar is triggered to be started to scan the icing conductor, and after the laser radar finishes scanning, the point cloud data corresponding to the icing conductor is sent to the intelligent control module.
In one or more possible implementation manners of the embodiment of the application, after receiving image data sent by a visible light camera, the intelligent control module further processes and analyzes the image data through a pre-trained power transmission hidden danger identification model so as to identify a power transmission hidden danger target existing in the image data. In one example of the present application, the power transmission risk target includes at least: trees and construction vehicles.
Similarly, after the intelligent control module identifies that the power transmission hidden trouble target exists in the image data, the laser radar is started to scan, and after the laser radar scans, the point cloud data corresponding to the power transmission hidden trouble target is sent to the intelligent control module.
And 104, calculating by the intelligent control module through point cloud data scanned by the laser radar to obtain the icing thickness.
The intelligent control module processes the point cloud data after receiving the point cloud data corresponding to the ice-coated wire, and it should be noted that the point cloud data in the embodiment of the present application all exist in a three-dimensional coordinate form. Specifically, the intelligent control module needs to determine whether the icing conductor is regular round or not through point cloud data, and if so, the diameter corresponding to the icing conductor is calculated through the point cloud data corresponding to the icing conductor; then obtaining the diameter of the original wire corresponding to the iced wire from the control center, namely the diameter of the wire corresponding to the iced wire without icing, and calculating the difference between the diameter of the original wire and the diameter of the iced wire, namely the thickness of the wire increased by the icing on the outer layer; finally, 1/2 of the difference is determined as the corresponding ice coating thickness of the ice coated wire.
Further, when the shape corresponding to the ice-coated wire is not a regular circle and is other irregular shapes, for example, the ice prism exists on the wire, at this time, the intelligent control module determines the maximum ice coating point corresponding to the ice-coated wire, that is, the point with the thickest ice coating position, according to the point cloud data corresponding to the ice-coated wire, and needs to determine the center point of the diameter corresponding to the ice-coated wire, that is, the center point of the tangent plane of the wire; and finally, calculating a distance value between the maximum icing point and the diameter center point, and determining the distance value as the icing thickness corresponding to the icing conductor.
In one or more possible implementation manners of the embodiment of the application, after the point cloud data corresponding to the power transmission hidden danger target sent by the laser radar is received, the intelligent control module can calculate the hidden danger distance between the power transmission hidden danger target and the power transmission line through the data (existing in a three-dimensional coordinate form), so that the distance measurement of the power transmission hidden danger target is realized.
In one or more possible implementation manners of the embodiment of the application, after the icing thickness corresponding to the icing conductor is determined, the intelligent control module compares the icing thickness with a preset thickness threshold, and if the icing thickness is greater than the preset thickness threshold, alarm information is sent to a control center; or after the hidden danger distance (the vertical distance between the power transmission hidden danger target and the power transmission line) corresponding to the power transmission hidden danger target is determined, comparing the hidden danger distance with a preset distance threshold, and if the hidden danger distance is larger than the preset distance threshold, sending alarm information to the control center; in one example of the present application, the aforementioned warning information includes at least an icing thickness or a hidden danger distance.
The foregoing is an embodiment of the method in the embodiment of the present application, and based on the same inventive concept, the embodiment of the present application further provides a device for detecting ice coating on a power transmission line, and the structure of the device is shown in fig. 2.
Fig. 2 is a structural diagram of an ice coating detection device for a power transmission line according to an embodiment of the present application. As shown in fig. 2, the apparatus includes: the intelligent control module, the charging management module, the rechargeable battery, the cloud platform, laser radar, visible light camera, temperature and humidity sensor and induction electricity-taking module.
The intelligent control module has strong computing power, can perform front-end intelligent analysis, identifies power transmission hidden danger data contained in image data acquired by a visible light camera, can also process point cloud data scanned by a laser radar, analyzes three-dimensional point cloud data, realizes routine power transmission hidden dangers and routing inspection tasks after ice coating of lines, and transmits a processing result to a background control center through 4G/5G.
The induction electricity taking module is hung on one phase of the power transmission line through the fixing bracket, the fixing is firm and reliable, and the equipment shell and the lead are designed to have the same potential; the induction electricity taking module obtains energy from the power transmission line in a current induction electricity taking mode, has overcurrent, overvoltage and lightning protection functions, and realizes a lithium battery charging function. Temperature and humidity sensor is used for realizing the temperature and humidity collection function in the environment, and when low temperature, trigger device's battery heating function keeps the battery active, can also trigger the camera lens heating function of opening visible light camera and the complete machine heating function of whole device, prevents that the device from freezing because of the icing, and cloud platform or visible light camera lens can't normally work. In addition, the rain cover is arranged below the power taking coil, the rain and snow shielding function of the holder and the whole device can be realized, the freezing in winter is avoided, and the material is anti-aging high-strength plastic.
The visible light camera is used for collecting image data of the power transmission line channel and the body, when power transmission hidden dangers are identified and found through the intelligent control module, laser radar scanning is triggered, and the scanned three-dimensional point cloud data can realize accurate icing thickness measurement. Besides, the visible light camera and the radar lens have the functions of heating, defogging and deicing, so that the lens is prevented from being fogged and frozen, and the power of the functions is 5W.
The holder is used for installing the visible light camera and the laser radar, and when the holder rotates, the visible light camera and the laser radar are driven to rotate. In addition, an IMU attitude acquisition module in the device is also arranged on the cloud deck and used for recording attitude information corresponding to the rotation of the cloud deck so as to facilitate the intelligent control module to process and analyze the point cloud data with the attitude information.
In one or more possible implementation manners of the embodiment of the application, the intelligent control module is used for acquiring historical current data of the power transmission line from a control center, and determining current data of the same day corresponding to one phase of power transmission line to which the induction power taking module is connected based on the historical current data; the intelligent control module is further used for determining the shooting frequency of the visible light camera according to the current data of the current day and controlling the start and stop of the visible light camera based on the shooting frequency; the visible light camera is used for sending the image data to the intelligent control module after shooting the image data corresponding to the power transmission line; the intelligent control module is further used for identifying the image data and starting a laser radar after determining that the icing conductor exists in the image data; the laser radar is used for collecting point cloud data corresponding to the ice-coated wire and sending the point cloud data to the intelligent control module; the intelligent control module is further used for calculating the icing thickness corresponding to the icing conductor through the point cloud data.
In one or more possible implementation manners of this application embodiment, the cloud platform with the intelligent control module group link, and be provided with heating device on its shell inner wall, power can be designed to 12W to when the cloud platform temperature is less than preset temperature threshold, it is right the cloud platform carries out periodic heating, prevents that the cloud platform from freezing.
In one or more possible implementation manners of the embodiment of the application, the temperature and humidity sensor is connected with the intelligent control module and used for acquiring an ambient temperature and an ambient humidity, and when the ambient temperature is lower than a preset temperature threshold and the ambient humidity is higher than a preset humidity threshold, a lens heating function of the visible light camera and a whole machine heating function of the ice coating detection device are triggered and started; the lens heating function is realized through a micro heating device arranged on the visible light camera lens, and the complete machine heating function is realized through a heating device arranged in the ice coating detection device.
Icing detection device in the embodiment of the application, have outer broken hidden danger discernment, icing monitoring, functions such as insulator monitoring, carry out the daily of passageway corridor and circuit body under the conventional mode and patrol and examine, low temperature, open icing monitoring function under the high humid environment, through the icing three-dimensional data of laser radar scanning transmission line and insulator, measure the icing condition at device front end (intelligent control module), when icing thickness exceedes the setting value, send alarm signal to back stage control center, simultaneously, the image that marks icing thickness data is covered the icing wire and is sent control center, realize the accurate measurement of icing thickness.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on differences from other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method for detecting icing on a power transmission line is characterized by comprising the following steps:
the intelligent control module acquires historical current data of the power transmission line from a control center, and determines current data of the same day corresponding to the power transmission line of one phase which is connected with the induction power taking module in a hanging mode based on the historical current data;
the intelligent control module determines the shooting frequency of the visible light camera according to the current data of the current of the day, and controls the start and stop of the visible light camera based on the shooting frequency;
after the visible light camera shoots image data corresponding to the power transmission line, sending the image data to the intelligent control module;
the intelligent control module identifies the image data and starts a laser radar after determining that the image data contains the icing conductor;
the laser radar collects point cloud data corresponding to the ice-coated wire and sends the point cloud data to the intelligent control module;
and the intelligent control module calculates the icing thickness corresponding to the icing conductor through the point cloud data.
2. The method for detecting icing on a power transmission line according to claim 1, wherein the intelligent control module determines the shooting frequency of a visible light camera according to the current data of the current of the day, and specifically comprises:
the intelligent control module determines the current day induction energy of the induction power taking module according to the current data of the current day;
determining shooting power consumption corresponding to the visible light camera, and calculating a proportion relation between the shooting power consumption and the induction energy of the current day;
and determining the day shooting frequency corresponding to the visible light camera according to the ratio relation.
3. The method for detecting icing on a power transmission line according to claim 2, wherein determining the day induction energy of the induction power-taking module specifically comprises:
the intelligent control module is controlled by a formula
Calculating to obtain the current day induction energy; wherein, I 1 For the current data of the current of the day, N 1 Is the number of turns of the transmission line, I 2 As induced current data, N 2 The number of turns of the induction power taking module is, and R is the internal resistance of the induction power taking module.
4. The method according to claim 1, wherein the intelligent control module identifies the image data, and specifically comprises:
the intelligent control module inputs the image data into an ice-coated wire recognition model through an input layer of the ice-coated wire recognition model so as to recognize the ice-coated wires in the image data through the ice-coated wire recognition model;
before inputting the image data into the iced conductor identification model, the method further comprises:
collecting a plurality of image data related to the ice-coated conducting wires to construct a training data set;
and training a preset neural network model through the training data set to obtain the ice-coated wire identification model.
5. The method for detecting icing on a power transmission line according to claim 1, wherein the intelligent control module calculates the icing thickness corresponding to the icing conductor through the point cloud data, and specifically comprises:
the intelligent control module extracts point cloud data corresponding to the icing conductor from the point cloud data; wherein the point cloud data is in the form of three-dimensional coordinates;
determining the shape corresponding to the ice-coated wire according to the point cloud data corresponding to the ice-coated wire;
when the shape corresponding to the ice-coated wire is a regular circle, calculating the diameter corresponding to the ice-coated wire through the point cloud data corresponding to the ice-coated wire;
obtaining the diameter of an original wire corresponding to the ice-coated wire from the control center, and calculating the difference between the diameter of the original wire and the diameter corresponding to the ice-coated wire;
determining 1/2 of the difference value as the corresponding ice coating thickness of the ice coated conducting wire; and the number of the first and second groups,
when the shape corresponding to the icing conductor is not a regular circle, determining the maximum icing point corresponding to the icing conductor and the central point of the diameter corresponding to the icing conductor according to the point cloud data corresponding to the icing conductor;
and calculating a distance value between the maximum icing point and the central point of the diameter, and determining the distance value as the icing thickness corresponding to the icing conductor.
6. The method according to claim 1, wherein after the intelligent control module identifies the image data, the method further comprises:
the intelligent control module identifies a power transmission hidden danger target contained in the image data through a power transmission hidden danger identification model; the power transmission hidden danger targets at least comprise trees and construction vehicles;
starting a laser radar to scan the power transmission line to obtain point cloud data corresponding to the power transmission hidden danger target;
and calculating the hidden danger distance between the power transmission hidden danger target and the power transmission line according to the point cloud data corresponding to the power transmission hidden danger target.
7. The method for detecting icing on a power transmission line according to any one of claims 5-6, wherein the method further comprises:
the intelligent control module sends alarm information to the control center when the icing thickness is larger than a preset thickness threshold value or the hidden danger distance is larger than a preset distance threshold value;
the warning information at least includes the icing thickness or the hidden danger distance.
8. A transmission line icing detection device, the device comprising:
the intelligent control module is used for acquiring historical current data of the power transmission line from a control center and determining current data of the same day corresponding to the power transmission line of one phase which is connected with the induction power taking module in a hanging mode based on the historical current data;
the intelligent control module is further used for determining the shooting frequency of the visible light camera according to the current data of the current day and controlling the start and stop of the visible light camera based on the shooting frequency;
the visible light camera is used for sending the image data to the intelligent control module after shooting the image data corresponding to the power transmission line;
the intelligent control module is further used for identifying the image data and starting a laser radar after determining that the icing conductor exists in the image data;
the laser radar is used for collecting point cloud data corresponding to the ice-coated wire and sending the point cloud data to the intelligent control module;
the intelligent control module is further used for calculating the icing thickness corresponding to the icing conductor through the point cloud data.
9. The device according to claim 8, wherein the device further comprises a cradle head;
the holder is connected with the intelligent control module, and meanwhile, the visible light camera and the laser radar are mounted on the holder, so that the visible light camera and the laser radar are driven to rotate through the rotation of the holder;
be provided with heating device on the cloud platform shell inner wall to when cloud platform temperature is less than preset temperature threshold value, it is right the cloud platform carries out periodic heating, prevents that the cloud platform from freezing.
10. The device for detecting the icing on the transmission line according to claim 8, wherein the device further comprises a temperature and humidity sensor;
the temperature and humidity sensor is connected with the intelligent control module and used for acquiring the ambient temperature and the ambient humidity, and triggering and starting a lens heating function of the visible light camera and a whole machine heating function of the ice coating detection device when the ambient temperature is lower than a preset temperature threshold value and the ambient humidity is higher than a preset humidity threshold value;
the lens heating function is realized through a micro heating device arranged on the visible light camera lens, and the complete machine heating function is realized through a heating device arranged in the ice coating detection device.
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