CN115014216B - 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 method for detecting icing cannot truly reflect the thickness of the icing 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 day corresponding to one phase of power transmission line connected with the induction power acquisition module based on the historical current data; determining shooting frequency of the visible light camera according to the current data of the current day so as to control the start and stop of the visible light camera; after the visible light camera shoots the image data corresponding to the power transmission line, the image data is sent to the intelligent control module; the intelligent control module performs identification processing on the image data, and starts the laser radar after determining that the icing wire exists in the image data; the laser radar acquires point cloud data corresponding to the icing wire and sends the point cloud data to the intelligent control module; and the intelligent control module calculates the thickness of the ice coating through the 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, the situation of icing easily appears on the transmission line, leads to the icing wire to appear in the transmission line, if not in time detect and handle icing wire, can influence the safe operation of transmission line, even influence the safety power consumption of resident, enterprise.
The existing method for detecting the icing of the lead is mainly realized by means of an icing monitoring station, an icing monitoring based on a mathematical model, an icing monitoring based on image comparison and the like, but the accuracy of icing detection cannot be guaranteed in the implementation processes, namely the real icing thickness of a power transmission line cannot be accurately reflected.
Disclosure of Invention
The embodiment of the application provides a method and a device for detecting ice coating of a power transmission line, which are used for solving the technical problem that the existing method for detecting ice coating can not truly reflect the thickness of the ice coating of the power transmission line.
In one aspect, an embodiment of the present application provides a method for detecting ice coating on a power transmission line, where the method includes: the intelligent control module acquires historical current data of the power transmission line from the control center, and determines current data of the day corresponding to one phase of power transmission line connected with the induction power acquisition module 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 day, and controls the start and stop of the visible light camera based on the shooting frequency; after shooting image data corresponding to the power transmission line, the visible light camera sends the image data to the intelligent control module; the intelligent control module performs identification processing on the image data, and starts a laser radar after determining that an icing wire exists in the image data; the laser radar collects point cloud data corresponding to the icing wire and sends the point cloud data to the intelligent control module; and the intelligent control module calculates the thickness of the ice coating corresponding to the ice coating wire through the point cloud data.
In one or more embodiments of the present disclosure, 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 day data; determining shooting power consumption corresponding to the visible light camera, and calculating a duty ratio relation between the shooting power consumption and the current day induction energy; and determining the corresponding current day shooting frequency of the visible light camera according to the duty ratio relation.
In one or more embodiments of the present disclosure, determining the current day inductive energy of the inductive power take-off module specifically includes: the intelligent control module is controlled by the formula Calculating to obtain the current day induction energy; wherein, I 1 is the current data of the current day, N 1 is the number of turns of the power transmission line, I 2 is the induced current data, N 2 is the number of turns of the induction power taking module, and R is the internal resistance of the induction power taking module.
In one or more embodiments of the present disclosure, the identifying the image data by the intelligent control module specifically includes: the intelligent control module inputs the image data into the icing wire identification model through an input layer of the icing wire identification model so as to identify the icing wire in the image data through the icing wire identification model; before inputting the image data into the icing wire identification model, the method further comprises: collecting a plurality of image data related to the iced conductor to construct a training data set; training a preset neural network model through the training data set to obtain the icing wire identification model.
In one or more embodiments of the present disclosure, the calculating, by the intelligent control module, the thickness of the ice coating corresponding to the ice coating wire according to the point cloud data specifically includes: the intelligent control module extracts point cloud data corresponding to the ice-covered wire from the point cloud data; wherein the point cloud data exists in the form of three-dimensional coordinates; determining the shape corresponding to the ice-covered wire according to the point cloud data corresponding to the ice-covered wire; when the shape corresponding to the icing wire is regular round, calculating the diameter corresponding to the icing wire according to the point cloud data corresponding to the icing wire; acquiring the diameter of an original wire corresponding to the icing wire from the control center, and calculating the difference between the diameter of the original wire and the diameter corresponding to the icing wire; determining 1/2 of the difference value as the thickness of the ice coating corresponding to the ice coating wire; when the shape corresponding to the icing wire is not regular round, determining the maximum icing point corresponding to the icing wire through the point cloud data corresponding to the icing wire, and determining the center point of the diameter corresponding to the icing wire; and calculating a distance value between the maximum freezing point and the central point of the diameter, and determining the distance value as the icing thickness corresponding to the icing wire.
In one or more embodiments of the present disclosure, after the intelligent control module performs the identification processing on the image data, the method further includes: the intelligent control module identifies the potential transmission hazard targets contained in the image data through a potential transmission hazard identification model; the power transmission hidden danger target at least comprises 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 hidden danger target and the power transmission line through the point cloud data corresponding to the hidden danger target.
In one or more embodiments of the present description, the method further comprises: the intelligent control module is used for sending alarm information to the control center when the ice coating thickness is larger than a preset thickness threshold value or the hidden danger distance is larger than a preset distance threshold value; and the alarm information at least comprises the icing thickness or the hidden danger distance.
On the other hand, the embodiment of the application also provides a device for detecting ice coating of the power transmission line, which comprises: the intelligent control module is used for acquiring historical current data of the power transmission line from the control center and determining current data of the day corresponding to one phase of power transmission line connected with the induction power acquisition module based on the historical current data; the intelligent control module is also 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 also used for carrying out identification processing on the image data, and starting a laser radar after determining that the icing wire exists in the image data; the laser radar is used for collecting point cloud data corresponding to the icing wire and sending the point cloud data to the intelligent control module; the intelligent control module is also used for calculating the ice coating thickness corresponding to the ice coating wire through the point cloud data.
In one or more embodiments of the present disclosure, the apparatus further includes a pan/tilt head; the cradle head is connected with the intelligent control module, and the visible light camera and the laser radar are arranged on the cradle head so as to drive the visible light camera and the laser radar to rotate through rotation of the cradle head; the heating device is arranged on the inner wall of the holder shell, so that when the temperature of the holder is lower than a preset temperature threshold, the holder is heated periodically, and the holder is prevented from being frozen.
In one or more embodiments of the present disclosure, the apparatus further comprises a temperature and humidity sensor; the temperature and humidity sensor is connected with the intelligent control module and is used for collecting the ambient temperature and the ambient humidity, and triggering and starting the lens heating function of the visible light camera and the whole machine heating function of the icing detection device when the ambient temperature is lower than a preset temperature threshold and the ambient humidity is higher than a preset humidity threshold; the lens heating function is realized through a micro heating device arranged on the lens of the visible light camera, and the whole machine heating function is realized through a heating device arranged in the icing detection device.
According to the method and the device for detecting the icing of the power transmission line, provided by the embodiment of the application, through the integrated technology of current induction power taking, two-dimensional image monitoring, three-dimensional point cloud three-dimensional scanning and cradle head control, the conventional and icing detection functions of the power transmission line, an insulator and the like are realized, the icing thickness measurement of the power transmission line is realized by adopting an image and point cloud combination mode, the accuracy of a measurement result is ensured, the working modes of all modules in the device are automatically adjusted by adopting a dynamic energy taking prediction technology, the device is in the optimal monitoring frequency, the detection level of hidden danger of power transmission is improved, the cradle head heating technology is adopted at low temperature to prevent the cradle head equipment from freezing, the reliability of the equipment in a severe environment is improved, and the icing monitoring precision and management level of the power transmission line are improved, so that the method and the device have 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 specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a flowchart of a method for detecting ice coating on a power transmission line according to an embodiment of the present application;
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 clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In order to master the icing condition of the power transmission line, the following conventional detection methods exist in the prior art:
1. ice coating observation station: and setting an icing observation station in the icing serious area, and erecting an analog lead. The method has simple principle and easy operation.
2. Power transmission based on mechanical model the line icing detection method comprises the following steps: the method comprises the steps of obtaining the gravity change of a wire, the inclination angle of a tower insulator, the frequency of wire galloping, the temperature, the wind speed, the wind direction, the rainfall and other information of a line site through various sensors arranged on a power transmission line, establishing a mathematical model to approximately calculate the equivalent icing thickness of the current wire, and realizing the online monitoring of the icing of the power transmission line.
3. The video imaging method monitors the wire and insulation from the icing thickness: and immediately acquiring images before and after the icing of the power transmission line by using a camera arranged at the monitoring terminal, acquiring the contour difference before and after the icing of the power transmission line according to the images, and acquiring the icing thickness by using a corresponding relation.
However, the above methods have the following disadvantages:
1. Ice coating observation station: the method is high in cost and high in risk, and the simulated wire cannot accurately reflect the actual icing thickness of the power transmission line due to the fact that factors affecting the power transmission line are complex.
2. Power transmission based on mechanical model the line icing detection method comprises the following steps: the method has the advantages that the measuring device and the principle are complex, the transformation is difficult, the method is easy to accept by a client when a new line is established, and the power grid is required to be powered off when an old line is transformed, so that the normal operation of the power device is affected. The sensor works for a long time, the accuracy can be affected, and the reliability is poor, and the method is that the current wire icing thickness is obtained through establishing a simplified mathematical model and then through a simulation analysis method, so that the obtained icing thickness has a great relation with the selected mathematical model, the model is different, the obtained icing thickness can have a great difference, and the accuracy of the determined icing thickness can not be ensured.
3. Monitoring the thickness of the wire and the insulator ice coating by a video image method: the method has the advantages that an image and a video acquisition lead icing image are adopted to be a main power transmission line icing monitoring operation and maintenance mode, the environment background is complex, the problem that the boundary is not well defined during image extraction can occur, and the ranging accuracy is affected; the simple lens heating can cause problems in extremely cold weather such as continuous overcast and rainy weather, and the equipment can be frozen and cannot work; the single-line radar ranging estimation method is suitable for lines with even ice coating, and if the ice coating is uneven, the accuracy is poor.
Therefore, the embodiment of the application provides a method and a device for detecting ice coating of a power transmission line, which are used for calculating the thickness of ice coating by combining two-dimensional image data and three-dimensional point cloud data, so that the technical problem that the accuracy of a result cannot be ensured by the existing method for measuring the thickness of ice coating is solved.
The following describes the technical scheme provided by the embodiment of the application in detail through the attached drawings.
Fig. 1 is a flowchart of a method for detecting ice coating on a power transmission line according to an embodiment of the present application. As shown in fig. 1, the ice coating detection method provided by the embodiment of the application mainly includes the following steps:
and step 101, the intelligent control module determines the shooting frequency of the visible light camera.
The icing detection method provided by the embodiment of the application is realized by 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 the icing detection starts, the intelligent control module of the icing detection device can firstly determine the power which can be obtained by the induction power taking module according to the current data of the power transmission line on the day, and then calculate the current induction energy which can be obtained by the induction power taking module.
Specifically, the induction power taking module acquires current data of the last year corresponding to the power transmission line from the background control center, and then searches the current data corresponding to the current date of the last year in the current data of the last year. Then, the properties of the mutual inductor in the electricity taking module can be obtained according to induction: primary and secondary windings of transformer the current relationship of (2) is:
I1/I2＝N2/N1
wherein, I 1 is primary current, i.e. current data of the power transmission line on the same day, I 2 is secondary induced current, N 1 is the number of turns of the power transmission line, here 1, N 2 is the number of turns wound on the electromagnetic core.
The power obtained by 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 that obtains, can calculate the current day induction energy W that the induction electricity acquisition module obtained 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 through the duty ratio relation between the shooting power consumption and the current day induction energy.
In one example of the application, according to the running condition and the weather information of the icing detection device, the stable coefficient relation between the acquired energy W and the consumed energy W20 is kept, so that the device obtains the monitoring of the optimal frequency, the empty window period of the monitoring of the device is reduced to the maximum extent, and the inspection efficiency is improved. Specifically, assuming that the power consumption of the device is W 21 during standby, the power consumption of the timing monitoring analysis function of the visible light camera is W 22, the power consumption of the laser radar scanning once is W 23, the power consumption of the real-time video analysis of the visible light camera is W 24, the power consumption of the pan-tilt heating function is W 25, the power consumption of the lens heating of the visible light camera is W 26, and the total power consumption consumed by the device is W 20:
W20＝aW21+bW22+cW23+dW24+eW25+fW26
Wherein, a b c d e f is a coefficient, and is 1 when the function is started and is 0 when the function is not started. In the actual use process of the device, the function can be adjusted to be opened and closed according to the weather information of the current day, so that the high-efficiency inspection of the device is ensured, and meanwhile, the device is prevented from being halted.
Step 102, the visible light camera shoots the power transmission line 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, namely, the monitoring time of the visible light camera and the stopping monitoring time 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 the laser radar to scan the transmission line by identifying the image data shot by the visible light camera.
After receiving the image data transmitted by the visible light camera, the intelligent control module performs identification processing on the image data to identify hidden danger of power transmission or ice-covered wires contained in the image data.
Specifically, the intelligent control module inputs the image data into the icing wire identification model through an input layer of the icing wire identification model so as to identify the icing wire in the image data through the icing wire identification model; it should be noted that, before the identification process is performed, training is required to be performed on the icing wire identification model, specifically, several image data related to the icing wire are collected to construct a training data set; training a preset neural network model through the training data set to obtain the icing wire identification model. In one example of the application, the neural network model may employ an RNN convolutional neural network model.
Further, after the intelligent control module determines that the icing wire exists in the image data collected by the visible light camera, triggering and starting the laser radar to scan the icing wire, and after the laser radar finishes scanning, sending point cloud data corresponding to the icing wire to the intelligent control module.
In one or more possible implementation manners of the embodiment of the present application, after receiving the image data sent by the visible light camera, the intelligent control module further processes and analyzes the image data through a pre-trained hidden danger identification model to identify hidden danger targets in the image data. In one example of the present application, the transmission risk objectives include at least: trees and construction vehicles.
Similarly, after the intelligent control module identifies that the potential transmission hazard targets exist in the image data, the laser radar is started to scan, and after the laser radar finishes scanning, the point cloud data corresponding to the potential transmission hazard targets are also sent to the intelligent control module.
And 104, calculating to obtain the thickness of the ice coating by the intelligent control module through the point cloud data scanned by the laser radar.
After receiving the point cloud data corresponding to the ice coating wire, the intelligent control module processes the point cloud data, and it is to be noted that the point cloud data in the embodiment of the application all exist in a three-dimensional coordinate form. Specifically, the intelligent control module needs to determine whether the icing wire is in a regular round shape through the point cloud data, and if so, the diameter corresponding to the icing wire is calculated through the point cloud data corresponding to the icing wire; then, obtaining the diameter of the original wire corresponding to the icing wire, namely the diameter corresponding to the wire when no icing exists, from the control center, and calculating the difference between the diameter of the original wire and the diameter corresponding to the icing wire, namely the thickness of the wire increased due to the icing of the outer layer; and finally, determining 1/2 of the difference value as the ice coating thickness corresponding to the ice coating wire.
Further, when the shape corresponding to the ice-covered wire is not regular round, and is other irregular shapes, for example, when an ice prism exists on the wire, at this time, the intelligent control module determines the maximum ice-covered point corresponding to the ice-covered wire, that is, the thickest ice-covered position point, according to the point cloud data corresponding to the ice-covered wire, and the center point of the diameter corresponding to the ice-covered wire, that is, the center point of the tangent plane of the wire needs to be determined; and finally, calculating a distance value between the maximum freezing point and the central point of the diameter, and determining the distance value as the ice coating thickness corresponding to the ice coating wire.
In one or more possible implementation manners of the embodiment of the application, after the intelligent control module receives the point cloud data corresponding to the power transmission hidden danger target sent by the laser radar, the hidden danger distance between the power transmission hidden danger target and the power transmission line can be calculated through the data (also in the form of three-dimensional coordinates), so as to realize the distance measurement of the power transmission hidden danger target.
In one or more possible implementation manners of the embodiment of the application, after determining the ice coating thickness corresponding to the ice coating wire, the intelligent control module compares the ice coating thickness with a preset thickness threshold value, and if the ice coating thickness is greater than the preset thickness threshold value, sends alarm information to the control center; or after determining the hidden danger distance (the vertical distance between the hidden danger target and the power transmission line) corresponding to the hidden danger target, 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 embodiment of the present application, the alarm information includes at least the thickness of the ice coating or the distance between the hidden danger.
The method embodiment in the embodiment of the application is based on the same inventive concept, and the embodiment of the application also provides a device for detecting the icing of the power transmission line, the structure of which 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 charge management module, the rechargeable battery, the cradle head, the laser radar, the visible light camera, the temperature and humidity sensor and the induction electricity taking module.
The intelligent control module has strong calculation power, can perform front-end intelligent analysis, can identify potential transmission hazard data contained in image data acquired by the visible light camera, can process point cloud data scanned by the laser radar, performs analysis of three-dimensional point cloud data, realizes conventional potential transmission hazards and inspection tasks after line icing, and can transmit processed results to a background control center through 4G/5G.
The induction power taking module is hung on one phase of the power transmission line through a fixing bracket, the fixation 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 a power transmission line in a current induction electricity taking mode, has overcurrent, overvoltage and lightning protection, and realizes the function of charging a lithium battery. The temperature and humidity sensor is used for realizing the temperature and humidity acquisition function in the environment, and when the temperature is low, the battery heating function of the triggering device keeps battery activity, and the lens heating function of the visible light camera and the whole machine heating function of the whole device can be triggered and started, so that the device is prevented from being frozen due to the cover, and the lens of the cradle head or the visible light camera cannot work normally. In addition, the rain cover is arranged below the electric taking coil, so that the functions of shielding rain and snow of the cradle head and the whole machine device can be realized, icing in winter is avoided, and the electric taking coil is made of anti-aging high-strength plastic.
The visible light camera is used for collecting image data of a transmission line channel and a body, when the hidden danger of transmission is found through intelligent control module identification, laser radar scanning is triggered, and accurate icing thickness measurement can be achieved through scanned three-dimensional point cloud data. And the visible light camera and the radar lens side have the functions of heating, defogging and deicing, and the lens is prevented from fogging and icing, and the power of the functions is 5W.
The cradle head is used for installing the visible light camera and the laser radar, and when the cradle head rotates, the visible light camera and the laser radar are driven to rotate. In addition, an IMU gesture acquisition module in the device is also arranged on the cradle head and used for recording gesture information corresponding to rotation of the cradle head, so that the intelligent control module can process and analyze point cloud data with the gesture 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 the control center and determining current data of the same day corresponding to a phase of power transmission line connected with the induction power acquisition module based on the historical current data; the intelligent control module is also 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 also used for carrying out identification processing on the image data, and starting a laser radar after determining that the icing wire exists in the image data; the laser radar is used for collecting point cloud data corresponding to the icing wire and sending the point cloud data to the intelligent control module; the intelligent control module is also used for calculating the ice coating thickness corresponding to the ice coating wire through the point cloud data.
In one or more possible implementation manners of the embodiment of the present application, the pan-tilt is connected to the intelligent control module, and a heating device is disposed on an inner wall of the pan-tilt, so that the power of the heating device can be designed to be 12W, and when the temperature of the pan-tilt is lower than a preset temperature threshold, the pan-tilt is heated periodically, so as to prevent the pan-tilt 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 is used for collecting the ambient temperature and the ambient humidity, and triggering and starting the lens heating function of the visible light camera and the whole machine heating function of the ice coating detection device when the ambient temperature is lower than a preset temperature threshold and the ambient humidity is higher than a preset humidity threshold; the lens heating function is realized through a micro heating device arranged on the lens of the visible light camera, and the whole machine heating function is realized through a heating device arranged in the icing detection device.
The icing detection device provided by the embodiment of the application has the functions of identifying hidden danger of external damage, monitoring icing, monitoring insulators and the like, performs daily inspection of a channel corridor and a line body in a conventional mode, starts the icing monitoring function in a low-temperature and high-humidity environment, scans three-dimensional icing data of a power transmission wire and the insulators through a laser radar, measures icing conditions at the front end (intelligent control module) of the device, sends an alarm signal to a background control center when the icing thickness exceeds a set value, and simultaneously sends an image icing wire marked with the icing thickness data to the control center to realize accurate measurement of the icing thickness.
The embodiments of the present application are described in a progressive manner, and the same and similar parts of the embodiments are all referred to each other, and each embodiment is mainly described in the differences from the other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (8)
1. The method for detecting the icing of the power transmission line is characterized by comprising the following steps of:
the intelligent control module acquires historical current data of the power transmission line from the control center, and determines current data of the day corresponding to one phase of power transmission line connected with the induction power acquisition module 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 day, and controls the start and stop of the visible light camera based on the shooting frequency, and the intelligent control module comprises: by the formula Calculating to obtain the induction energy of the day; wherein, I 1 is the current data of the current day, N 1 is the number of turns of the power transmission line, I 2 is the induced current data, N 2 is the number of turns of the induction power taking module, R is the internal resistance of the induction power taking module, the shooting power consumption corresponding to the visible light camera is determined, the duty ratio relation between the shooting power consumption and the induction energy of the current day is calculated, and the shooting frequency of the current day corresponding to the visible light camera is determined according to the duty ratio relation;
after shooting image data corresponding to the power transmission line, the visible light camera sends the image data to the intelligent control module;
the intelligent control module performs identification processing on the image data, and starts a laser radar after determining that an icing wire exists in the image data;
the laser radar collects point cloud data corresponding to the icing wire and sends the point cloud data to the intelligent control module;
And the intelligent control module calculates the thickness of the ice coating corresponding to the ice coating wire through the point cloud data.
2. The method for detecting ice coating on a power transmission line according to claim 1, wherein the intelligent control module performs identification processing on the image data, and specifically comprises:
The intelligent control module inputs the image data into the icing wire identification model through an input layer of the icing wire identification model so as to identify the icing wire in the image data through the icing wire identification model;
before inputting the image data into the icing wire identification model, the method further comprises:
Collecting a plurality of image data related to the iced conductor to construct a training data set;
training a preset neural network model through the training data set to obtain the icing wire identification model.
3. The method for detecting ice coating on a power transmission line according to claim 1, wherein the intelligent control module calculates the thickness of ice coating corresponding to the ice coating wire according to the point cloud data, and specifically comprises:
The intelligent control module extracts point cloud data corresponding to the ice-covered wire from the point cloud data; wherein the point cloud data exists in the form of three-dimensional coordinates;
determining the shape corresponding to the ice-covered wire according to the point cloud data corresponding to the ice-covered wire;
When the shape corresponding to the icing wire is regular round, calculating the diameter corresponding to the icing wire according to the point cloud data corresponding to the icing wire;
Acquiring the diameter of an original wire corresponding to the icing wire from the control center, and calculating the difference between the diameter of the original wire and the diameter corresponding to the icing wire;
Determining 1/2 of the difference value as the thickness of the ice coating corresponding to the ice coating wire; and
When the shape corresponding to the icing wire is not regular round, determining the maximum icing point corresponding to the icing wire and determining the center point of the diameter corresponding to the icing wire according to the point cloud data corresponding to the icing wire;
And calculating a distance value between the maximum freezing point and the central point of the diameter, and determining the distance value as the icing thickness corresponding to the icing wire.
4. The method for detecting ice coating on a power transmission line according to claim 1, wherein after the intelligent control module performs identification processing on the image data, the method further comprises:
The intelligent control module identifies the potential transmission hazard targets contained in the image data through a potential transmission hazard identification model; the power transmission hidden danger target at least comprises 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 hidden danger target and the power transmission line through the point cloud data corresponding to the hidden danger target.
5. A method for detecting ice coating on a power transmission line according to any one of claims 3-4, further comprising:
the intelligent control module is used for sending alarm information to the control center when the ice coating thickness is larger than a preset thickness threshold value or the hidden danger distance is larger than a preset distance threshold value;
the alarm information at least comprises the icing thickness or the hidden danger distance.
6. An ice coating detection device for a power transmission line, the device comprising:
The intelligent control module is used for acquiring historical current data of the power transmission line from the control center and determining current data of the day corresponding to one phase of power transmission line connected with the induction power acquisition module based on the historical current data;
the intelligent control module is also 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, and comprises the following steps: by the formula Calculating to obtain the induction energy of the day; wherein, I 1 is the current data of the current day, N 1 is the number of turns of the power transmission line, I 2 is the induced current data, N 2 is the number of turns of the induction power taking module, R is the internal resistance of the induction power taking module, the shooting power consumption corresponding to the visible light camera is determined, the duty ratio relation between the shooting power consumption and the induction energy of the current day is calculated, and the shooting frequency of the current day corresponding to the visible light camera is determined according to the duty ratio relation;
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 also used for carrying out identification processing on the image data, and starting a laser radar after determining that the icing wire exists in the image data;
the laser radar is used for collecting point cloud data corresponding to the icing wire and sending the point cloud data to the intelligent control module;
The intelligent control module is also used for calculating the ice coating thickness corresponding to the ice coating wire through the point cloud data.
7. The power transmission line icing detection device of claim 6, further comprising a cradle head;
The cradle head is connected with the intelligent control module, and the visible light camera and the laser radar are arranged on the cradle head so as to drive the visible light camera and the laser radar to rotate through rotation of the cradle head;
the heating device is arranged on the inner wall of the holder shell, so that when the temperature of the holder is lower than a preset temperature threshold, the holder is heated periodically, and the holder is prevented from being frozen.
8. The power transmission line icing detection device of claim 6, further comprising a temperature and humidity sensor;
The temperature and humidity sensor is connected with the intelligent control module and is used for collecting the ambient temperature and the ambient humidity, and triggering and starting the lens heating function of the visible light camera and the whole machine heating function of the icing detection device when the ambient temperature is lower than a preset temperature threshold and the ambient humidity is higher than a preset humidity threshold;
The lens heating function is realized through a micro heating device arranged on the lens of the visible light camera, and the whole machine heating function is realized through a heating device arranged in the icing detection device.
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