基于多源传感的输电线防碰线预警方法及装置设计

Early Warning Method and Device Design of Anti-Collision Line for Transmission Line Based on Multi-Source Sensing

为了解决输电线路防机械碰线实时监测的问题,研制基于多源传感的输电线预警装置,同时提出基于毫米波雷达与视觉融合的输电线预警算法,并在真实场景下对算法的有效性进行验证。该预警装置首先采用基于标准差聚类的视觉识别算法对前方输电线进行检测;其次,通过基于改进抗差卡尔曼滤波的毫米波雷达测距算法对输电线距离进行实时稳定的测量,在视觉检测的基础上实时跟踪输电线距离;最后,根据视觉检测和毫米波雷达测距结果对预设的机械碰撞线条件进行实时预警判断。实验结果表明:基于标准差聚类的视觉识别算法的有效识别距离大于20 m,识别精度达93%,输出频率为1 Hz;基于改进抗差卡尔曼滤波的毫米波雷达测距算法的测距精度为±0.1 m,测距误差为2%,输出频率为1 Hz。本装置满足对输电线路防机械碰线实时监测的整体需求。

This study develops a transmission line warning device based on multi-source sensing to address the problem of real-time transmission line monitoring against mechanical collision.It also proposes a transmission line warning algorithm based on millimeter wave radar and visual fusion,and the algorithm’s effectiveness is verified in a real scene.First,the front transmission lines were detected using a vision recognition algorithm based on standard deviation clustering.Second,a millimeter wave radar ranging algorithm based on an improved robust Kalman filter was used to measure the transmission line distance in real time,while visual detection was used to track the transmission line distance in real time.Finally,realtime warning and judgment for the preset mechanical collision line conditions were conducted based on the above visual detection and millimeter wave radar ranging results.The experimental results show that the visual recognition algorithm based on standard deviation clustering has an effective recognition distance of more than 20 m,a recognition accuracy of93%,and an output frequency of 1 Hz,whereas the millimeter-wave radar ranging algorithm based on improved robust Kalman filter has a ranging accuracy of±0.1 m,a ranging error of 2%,and an output frequency of 1 Hz.This device can meet the overall demand for real-time monitoring of transmission lines against mechanical collisions.