CN-117162023-B - Device and method for repairing bolts of power transmission line without power outage

CN117162023BCN 117162023 BCN117162023 BCN 117162023BCN-117162023-B

Abstract

The invention discloses a device and a method for repairing a bolt of a power transmission line without power outage, wherein the device for repairing the bolt of the power transmission line without power outage comprises an image acquisition module, a bolt damage detection module, a bolt loosening detection module, a bolt fastening assembly and a total control module, wherein the image acquisition module, the bolt damage detection module, the bolt loosening detection module and the bolt fastening assembly are connected with the total control module, the image acquisition module is used for acquiring an image of the power transmission line, the bolt damage detection module is used for judging the position of the damaged bolt according to the image of the power transmission line, and the bolt loosening detection module is used for judging the position of the loosened bolt according to the image of the power transmission line. The invention can realize damage detection and loosening detection of the transmission line bolt, and timely repair and fastening the transmission line bolt without power failure during repair or fastening.

Inventors

HOU MENGLONG
HAN XU
Guo Fangyong
PAN SHICHUN
WANG ZELIN
ZENG ZHIJUN
PEI HUIKUN
SHU MINGJIE
LI QICONG
LIAO BOWEN

Assignees

深圳供电局有限公司

Dates

Publication Date: 20260512
Application Date: 20230904

Claims (6)

1. The method for repairing the bolts of the power transmission line without power outage is characterized by comprising the following steps of: Step 1, an image acquisition module acquires an electric transmission line image of a region to be detected and sends the electric transmission line image to a total control module, and the total control module sends the electric transmission line image to a bolt damage detection module and a bolt loosening detection module; Step 2, analyzing the power transmission line image based on the bolt damage detection module to obtain the damaged bolt position; step 3, analyzing the power transmission line image based on the bolt loosening detection module to obtain the loosening bolt position; Step 4, replacing the damaged bolt through a bolt fastening assembly, and fastening the loosened bolt; the step 2 specifically includes: Step 201, constructing a damage detection model based on a regional attention mechanism and multi-scale feature fusion; step 202, training a damage detection model based on a preset damage bolt data set to obtain a trained damage detection model; And 203, inputting the power transmission line image into the trained damage detection model, obtaining the position of the damaged bolt, transmitting the position of the damaged bolt to a total control module, transmitting the position of the damaged bolt to a controller by the total control module, and displaying the position of the damaged bolt on a touch display screen by the controller.
2. The method for uninterrupted power supply of electric transmission line bolts according to claim 1, wherein said step 3 specifically comprises: Step 301, obtaining an image of the power transmission line just established, taking the image as a reference image, and performing rough registration on the power transmission line image based on the reference image; Step 302, performing bolt center matching on the transmission line image after rough registration based on the reference image; step 303, judging whether the bolt is loosened or not based on the reference image and the bolt profile of the transmission line.
3. The method for repairing a power transmission line bolt without power outage according to claim 2, wherein in step 301, the rough registration of the power transmission line image based on the reference image is specifically: and carrying out feature point detection and matching on the reference image and the power transmission line image based on a SURF feature detection algorithm, and eliminating error matching based on a RANSAC algorithm to obtain a screened matching pair.
4. The method for repairing the bolts of the transmission line without power outage according to claim 2, wherein in the step 302, bolt center matching is performed on the transmission line image after the rough registration is performed based on the reference image, specifically: Detecting the matched reference image and the matched transmission line image through the object detector to obtain all positions of bolts in the reference image and the transmission line image, wherein each bolt is independently located in a rectangular frame, processing the rectangular frame through an edge detection algorithm to obtain a binary image after edge detection, extracting the outline of the binary image, screening the outline by using the hierarchical structure and the length information of the outline to obtain the boundary of the bolt, enabling the center of the set of the head surface of the bolt to be equivalent as the center, calculating the center coordinates of the bolt, carrying out center point matching according to the center coordinates of the reference image and the transmission line image, and carrying out weighted calculation and binarization on the reference image and the transmission line image after matching is completed to obtain the binary image displaying the difference position.
5. The method for repairing a bolt of a power transmission line without power outage according to claim 2, wherein in the step 303, based on the reference image and the bolt profile of the power transmission line, it is determined whether the bolt is loosened, specifically: And counting the number M of pixel points in each bolt of the power transmission line by using a summation function, and equating the number M to be the area of the surface of the head of the bolt, counting the number N of pixel points in each bolt of a binary image for displaying a difference position, wherein the gray value in each bolt is larger than a first preset threshold value, equating the number N to be the area of a difference region, setting a second preset threshold value, judging that the bolt is loosened if the ratio of N to M is larger than the second preset threshold value, and sending the loosened bolt position to a total control module, wherein the total control module sends the loosened bolt position to a controller, and the controller displays the loosened bolt on a touch display screen.
6. The method for uninterrupted power supply of electric transmission line bolts according to claim 1, wherein said step 4 specifically comprises: Checking the positions of damaged bolts through a touch display screen, moving the fastening modules to the positions corresponding to the bolts through insulating rods, collecting corresponding pictures by a camera, displaying the pictures on the touch display screen, aligning the fasteners to the bolts, and disassembling, replacing or repairing the bolts; the position of the bolt which is loosened is checked through the touch display screen, the fastening module is moved to the position corresponding to the bolt through the insulating rod, the camera collects the corresponding picture and displays the picture on the touch display screen, the fastening piece is aligned to the bolt, and the bolt is fastened.

Description

Device and method for repairing bolts of power transmission line without power outage Technical Field The invention relates to the technical field of power line overhaul tools, in particular to a device and a method for repairing bolts of a power transmission line without power outage. Background The safety operation of the power transmission line has important significance, the bolts play a role in connecting the fixed lines in the power transmission line, once looseness or falling off occurs, the power transmission is possibly caused to be failed to cause a large-range power failure accident, great inconvenience is brought to power users, and therefore frequent detection is needed, but the detection method in the prior art often has the problem of low detection precision, and the repair device in the prior art is inconvenient to use when repairing or fastening the bolts. Disclosure of Invention The technical problem to be solved by the invention is to provide a device and a method for repairing a power transmission line bolt without power outage, so as to detect loosening and damage of the power transmission line bolt, repair and fasten the power transmission line bolt in time and prevent power outage caused by emergency maintenance. The invention provides a device for repairing a bolt of a power transmission line without power outage, which comprises an image acquisition module, a bolt damage detection module, a bolt loosening detection module, a bolt fastening assembly and a total control module, wherein the image acquisition module, the bolt damage detection module, the bolt loosening detection module and the bolt fastening assembly are connected with the total control module; The image acquisition module is used for acquiring an image of the transmission line; the bolt damage detection module is used for judging the position of a damaged bolt according to the power transmission line image; the bolt looseness detection module is used for judging the position of a bolt which loosens according to the power transmission line image. Preferably, the bolt fastening assembly comprises an insulating rod, a touch display screen, a controller, a camera and a fastening module, wherein the fastening module is fixedly arranged at the top of the insulating rod, the touch display screen is fixedly arranged at the lower side part of the insulating rod, the camera is fixedly arranged at the upper side part of the insulating rod, the touch display screen, the camera and the fastening module are electrically connected with the controller, and the controller is connected with the total control module through a wireless communication module. Preferably, the fastening module comprises a rotating motor, a fastening sleeve and a fastening piece, wherein the fastening piece is arranged in the fastening sleeve, the rotating motor is arranged outside the fastening sleeve, the output end of the rotating motor stretches into the fastening sleeve and is fixedly connected with the fastening piece, the fastening piece drives a bolt to rotate and screw up, the rotating motor is electrically connected with the controller, a control box is further arranged on the side portion of the insulating rod, and the controller and the wireless communication module are arranged in the control box. The invention also provides a method for continuously and complementarily installing the transmission line bolt, which is applied to the device for continuously and complementarily installing the transmission line bolt, and comprises the following steps: Step 1, an image acquisition module acquires an electric transmission line image of a region to be detected and sends the electric transmission line image to a total control module, and the total control module sends the electric transmission line image to a bolt damage detection module and a bolt loosening detection module; Step 2, analyzing the power transmission line image based on the bolt damage detection module to obtain the damaged bolt position; step 3, analyzing the power transmission line image based on the bolt loosening detection module to obtain the loosening bolt position; and 4, replacing the damaged bolt through the bolt fastening assembly, and fastening the loosened bolt. Preferably, the step 2 specifically includes: Step 201, constructing a damage detection model based on a regional attention mechanism and multi-scale feature fusion; step 202, training a damage detection model based on a preset damage bolt data set to obtain a trained damage detection model; And 203, inputting the power transmission line image into the trained damage detection model, obtaining the position of the damaged bolt, transmitting the position of the damaged bolt to a total control module, transmitting the position of the damaged bolt to a controller by the total control module, and displaying the position of the damaged bolt on a touch display screen by the controller. Preferably, the step3 specifically includ