CN107817052A - Based on the collection of infrared imaging power transformer crusing robot thermal map and communication system - Google Patents

Abstract

The invention belongs to the technical field of power transformer detection, in particular to a heat map collection and communication system for a power transformer inspection robot based on infrared imaging. The image acquisition unit is connected with the electrical equipment, the image acquisition unit is connected with the preprocessing unit, the preprocessing unit is respectively connected with the temperature extraction unit and the image transmission unit, the temperature extraction unit is connected with the microprocessor, and the microprocessor is connected with the state display unit, The signal conversion unit is connected to the microprocessor, the signal conversion unit is connected to the image acquisition unit, the operation panel is connected to the microprocessor, the image transmission unit is connected to the mobile terminal, the microprocessor is connected to the communication unit, and the communication unit is connected to the mobile terminal, The reset unit is connected with the microprocessor. The invention has the advantages of simple operation, small operation and maintenance workload, fast image acquisition speed, high processing precision, fast response speed, safe and reliable data transmission, etc., and lays a foundation for the development of power transformer image acquisition, processing and transmission technology.

Description

Thermal map acquisition and communication system for power transformer inspection robot based on infrared imaging

technical field

The invention belongs to the technical field of power transformer detection, in particular to a heat map collection and communication system for a power transformer inspection robot based on infrared imaging.

Background technique

The power transformer is an important voltage conversion equipment connecting the power grid and the sub-network, and its reliability and safety are directly related to the safety of the power grid and the stable operation of the sub-network. The daily maintenance of power transformers has developed from "troubleshooting" to "condition-based maintenance". However, the existing condition-based maintenance technology is not comprehensive enough for the monitoring of transformer operating parameters, and the accuracy of image processing is low. The monitoring results are mainly sent to the monitoring center, and maintenance personnel leave the monitoring The host cannot understand the operation of the power transformer in real time, and cannot take timely measures in case of abnormal conditions in the substation to eliminate potential safety hazards.

Contents of the invention

Aiming at the problems existing in the above-mentioned prior art, the present invention proposes a heat map acquisition and communication system based on an infrared imaging power transformer inspection robot. Its purpose is to provide a heat map collection and analysis method that uses infrared thermal imaging technology to collect heat maps of power transformers, and after processing and analysis, sends the results to mobile terminals. Maintenance personnel can understand the operation of power transformers in real time through dedicated mobile phones communication method.

The technical solution adopted by the present invention to solve its technical problems is:

Based on infrared imaging power transformer inspection robot heat map acquisition and communication system, it is connected in sequence by electrical equipment, image acquisition unit, preprocessing unit, temperature extraction unit, microprocessor, and status display unit; the preprocessing unit is also connected with the image transmission unit The image transmission unit is connected with the mobile terminal; the microprocessor is connected with the signal conversion unit and the image acquisition unit in turn; the operation panel is connected with the microprocessor; the reset unit is also connected with the microprocessor; the microprocessor is also connected with the The communication unit and the mobile terminal are connected in sequence.

The heat map acquisition and communication system based on infrared imaging power transformer inspection robot is connected by the acquisition end of the image acquisition unit with the measurement site of the electrical equipment, and the signal output end of the image acquisition unit is connected with the signal input end of the preprocessing unit. Connection, the signal output end of the preprocessing unit is connected with the signal input end of the temperature extraction unit and the image transmission unit respectively, the signal output end of the temperature extraction unit is connected with the signal input end of the microprocessor, and the signal output end of the microprocessor It is connected with the signal input terminal of the status display unit, the signal input terminal of the signal conversion unit is connected with the signal output terminal of the microprocessor, the signal output terminal of the signal conversion unit is connected with the control terminal of the image acquisition unit, and the signal of the operation panel The output end is connected with the signal input end of the microprocessor, the signal output end of the image transmission unit is connected with the signal input end of the mobile terminal through the wireless network, and the communication signal output end of the microprocessor is connected with the data input end of the communication unit The signal output end of the communication unit is connected with the signal input end of the mobile terminal through the wireless network, and the signal output end of the reset unit is connected with the reset signal input end of the microprocessor.

The inspection robot first establishes the infrared image detection standard, and after obtaining the infrared heat map of the electrical equipment, inspects the temperature of each point in the heat map according to the detection standard. This process requires image preprocessing through the preprocessing unit and the temperature extraction unit. and temperature extraction operation; after the microprocessor collects the temperature of electrical equipment, it invokes historical data, maintenance specifications and environmental information, and determines the operating status of electrical equipment through horizontal and vertical temperature difference judgments. At the same time, the mobile terminal receives data from the microprocessor and the preprocessing unit in real time ; When the electrical equipment is abnormal, the alarm is issued, and the alarm signal is sent to the mobile terminal and the dispatching center at the same time; if the electrical equipment is running normally, the signal conversion unit is used to control the image acquisition unit to collect the next image; Perform a reset and the program runs again.

The infrared image detection standard refers to the infrared image spatio-temporal analysis method, that is, the infrared image at the time of collection is compared at two angles of time and space to determine whether the temperature at the monitoring point of the power transformer is abnormal; Compared with the historical data of point temperature, the space is compared with the temperature data of similar equipment under the same working conditions at the same time.

The image preprocessing process relies on the illuminance-reflectivity model of the image as the basis of frequency domain processing, adopts the homomorphic filtering technology that combines frequency filtering and grayscale transformation, and uses the brightness range and enhanced contrast of compressed pictures to improve The quality of the picture affects the details of the enhanced image by eliminating uneven illumination; the image f(x,y) is represented by the product of the illumination component i(x,y) and the reflection component r(x,y):

f(x,y)=i(x,y)r(x,y)(1);

In formula (1): Among them, x, y are the horizontal and vertical coordinate points of the image, the image illuminance component i(x, y) represents the ambient light, and the image reflection component r(x, y) represents the reflection property of the object.

The homomorphic filtering is a method of simultaneously compressing the image brightness range and enhancing the image contrast in the frequency domain, which is based on the image imaging model; the principle of the homomorphic filtering technology is based on the synthesis of the illumination component and the reflection component. Image grayscale; in space, the illumination component has a slow changing nature, and the reflection component changes quickly with the image details; the spectrum of the illumination component is generally a low-frequency area of space, and the spectrum of the reflection component is a high-frequency area of space; where f(x, y) is the original image; g(x, y) is the processed image; In is the logarithmic operation; FFT is the Fourier transform; H(u, v) is the filter transfer function; FFT ^-1 is the Fourier inverse Transformation; exp is an exponential operation.

Advantage of the present invention and beneficial effect are:

The invention uses infrared thermal imaging technology to collect heat images of power transformers, obtains high-definition power transformer operation images after image preprocessing, extracts the temperature of the images, calls the database for analysis, and sends the preprocessed images and analysis results to the mobile Terminals, maintenance personnel can understand the operation status of power transformers in real time through dedicated mobile phones. This technology has the advantages of simple operation, small operation and maintenance workload, fast image acquisition speed, high processing precision, fast response speed, safe and reliable data transmission, etc. It lays the foundation for the development of power transformer image acquisition, processing and transmission technology.

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, but is not limited by the embodiments.

Description of drawings

Fig. 1 Structural diagram of heat map acquisition and communication system of inspection robot based on infrared imaging power transformer;

Figure 2 Homomorphic filtering process flow chart.

In the figure: electrical equipment 1, image acquisition unit 2, preprocessing unit 3, temperature extraction unit 4, microprocessor 5, status display unit 6, signal conversion unit 7, operation panel 8, image conversion unit 9, mobile terminal 10, Communication unit 11, reset unit 12.

Detailed ways

The invention is a heat map collection and communication system for a power transformer inspection robot based on infrared imaging. As shown in Figure 1, Figure 1 is a simplified structure of the thermal image acquisition and communication system of the infrared imaging power transformer inspection robot based on the present invention. The system includes electrical equipment 1, image acquisition unit 2, preprocessing unit 3, temperature extraction unit 4, microprocessor 5, status display unit 6, signal conversion unit 7, operation panel 8, image conversion unit 9, mobile terminal 10, A communication unit 11 and a reset unit 12 . It is connected in turn by electrical equipment 1, image acquisition unit 2, preprocessing unit 3, temperature extraction unit 4, microprocessor 5, and status display unit 6; preprocessing unit 3 is also connected with image transmission unit 9, and image transmission unit 9 Be connected with mobile terminal 10; Microprocessor 5 is connected with signal conversion unit 7, image acquisition unit 2 successively; Operation panel 8 is connected with microprocessor 5; Reset unit 12 is also connected with microprocessor 5; Microprocessor 5 is also connected with the communication unit 11 and the mobile terminal 10 in sequence.

Wherein the acquisition end of image acquisition unit 2 is connected with the measuring position of electrical equipment 1, the signal output end of image acquisition unit 2 is connected with the signal input end of preprocessing unit 3, and the signal output end of preprocessing unit 3 is respectively connected with temperature extraction The signal input end of unit 4 and image transmission unit 9 is connected, the signal output end of temperature extraction unit 4 is connected with the signal input end of microprocessor 5, the signal output end of microprocessor 5 is connected with the signal input end of state display unit 6 The signal input end of the signal conversion unit 7 is connected with the signal output end of the microprocessor 5, the signal output end of the signal conversion unit 7 is connected with the control end of the image acquisition unit 2, and the signal output end of the operation panel 8 Be connected with the signal input end of microprocessor 5, the signal output end of image transmission unit 9 is connected with the signal input end of mobile terminal 10 through wireless network, the communication signal output end of microprocessor 5 and the data input of communication unit 11 The signal output end of the communication unit 11 is connected with the signal input end of the mobile terminal 10 through the wireless network, and the signal output end of the reset unit 12 is connected with the reset signal input end of the microprocessor 5 .

The inspection robot first establishes the infrared image detection standard (infrared image spatio-temporal analysis method, that is, the infrared image at the time of collection is compared in time (the temperature at the same point is compared with the historical data of the temperature at that point) and space (the temperature at the same point is compared with the same working condition of similar equipment) compare the temperature data under the circumstances) and compare the two angles to determine whether the temperature of the power transformer monitoring point is abnormal), after obtaining the infrared heat map of the electrical equipment 1, inspect the temperature of each point in the heat map according to the detection standard, this The process requires image preprocessing and temperature extraction operations through the preprocessing unit 3 and the temperature extraction unit 4 . After the microprocessor 5 collects the temperature of the electrical equipment 1, it invokes historical data, maintenance specifications and environmental information, and determines the operating status of the electrical equipment 1 through horizontal and vertical temperature difference judgments. data. An alarm is issued when the electrical equipment 1 is abnormal, and an alarm signal is sent to the mobile terminal 10 and the dispatch center at the same time. If the electrical equipment operates normally, the image acquisition unit 2 is controlled by the signal conversion unit 7 to acquire the next image. In the case of abnormal operation of the system, it is reset by the reset unit 12, and the program runs again.

In the process of image preprocessing, the illuminance-reflectance model of the image is used as the basis of frequency domain processing, and the homomorphic filtering technology combining frequency filtering and gray scale transformation is used to improve the quality of the image by compressing the brightness range of the image and enhancing the contrast. , which affects the details of enhanced images by eliminating non-uniform illumination. The image f(x,y) is represented by the product of the illumination component i(x,y) and the reflection component r(x,y):

f(x,y)=i(x,y)r(x,y)(1);

In formula (1): Among them, x, y are the horizontal and vertical coordinate points of the image, the image illuminance component i(x, y) represents the ambient light, and the image reflection component r(x, y) represents the reflection property of the object.

As shown in Figure 2, the flow chart of homomorphic filtering in Figure 2. Homomorphic filtering is a method to simultaneously compress the image brightness range and enhance the image contrast in the frequency domain, which is based on the image imaging model. The principle of homomorphic filtering technology is to synthesize the image gray level according to the illumination component and the reflection component. In space, the illuminance component has a slowly changing property, and the reflection component has a faster change with the image details. The illuminance component spectrum is generally the spatial low-frequency region, and the reflection component spectrum is the spatial high-frequency region. In Figure 2: f(x, y) is the original image; g(x, y) is the processed image; In is the logarithmic operation; FFT is the Fourier transform; H(u, v) is the filter transfer function; FFT ^-1 is the inverse Fourier transform; exp is the exponential operation.

Claims (6)

1. based on the collection of infrared imaging power transformer crusing robot thermal map and communication system, it is characterized in that：By electrical equipment （1）, image acquisition units（2）, pretreatment unit（3）, temperature extraction unit（4）, microprocessor（5）, status display unit（6） It is sequentially connected；Pretreatment unit（3）Also with image transmitting unit（9）It is connected, image transmitting unit（9）With mobile terminal（10） It is connected；Microprocessor（5）With signal conversion unit（7）, image acquisition units（2）It is sequentially connected；Guidance panel（8）With micro- place Manage device（5）It is connected；Reset unit（12）Also with microprocessor（5）It is connected；Microprocessor (5）Also with communication unit（11）、 Mobile terminal（10）It is sequentially connected.

2. according to claim 1 be based on the collection of infrared imaging power transformer crusing robot thermal map and communication system, It is characterized in that：Described image collecting unit（2）Collection terminal and electrical equipment（1）Measuring point be connected, IMAQ list Member（2）Signal output part and pretreatment unit（3）Signal input part be connected, pretreatment unit（3）Signal output part Respectively with temperature extraction unit（4）And image transmitting unit（9）Signal input part be connected, temperature extraction unit（4）Letter Number output end and microprocessor（5）Signal input part be connected, microprocessor（5）Signal output part and status display unit （6）Signal input part be connected, signal conversion unit（7）Signal input part and microprocessor（5）Signal output part phase Connection, signal conversion unit（7）Signal output part and image acquisition units（2）Control terminal be connected, guidance panel（8）'s Signal output part and microprocessor（5）Signal input part be connected, image transmitting unit（9）Signal output part by wireless Network and mobile terminal（10）Signal input part be connected, microprocessor (5）Communication signal output end and communication unit （11）Data input pin be connected, communication unit（11）Signal output part pass through wireless network and mobile terminal（10）Letter Number input is connected, reset unit（12）Signal output part and microprocessor（5）Reset signal input be connected.

3. according to claim 1 be based on the collection of infrared imaging power transformer crusing robot thermal map and communication system, It is characterized in that：The crusing robot initially sets up infrared image examination criteria, obtains electrical equipment（1）Infrared chart after, According to the temperature each put in examination criteria inspection thermal map, this process is needed by pretreatment unit (3）With temperature extraction list Member（4）Carry out image preprocessing and temperature extraction operation；Microprocessor（5）Gather electrical equipment（1）History is called after temperature Data, inspection code and environmental information, judge to determine electrical equipment by transverse direction, vertical temperature difference（1）Running status, same to time shift Dynamic terminal（10）Real-time reception microprocessor（5）And pretreatment unit（3）Data；In electrical equipment（1）Exception is alarmed, Alarm signal is sent to mobile terminal simultaneously（10）And control centre；As electric equipment operation is normal, it is single to pass through signal conversion Member（7）Control image acquisition units（2）The lower piece image of collection；Under system operation abnormal conditions, pass through reset unit（12） Resetted, program roll back.

4. according to claim 3 be based on the collection of infrared imaging power transformer crusing robot thermal map and communication system, It is characterized in that：The infrared image examination criteria refers to infrared image space-time analysis method, i.e., the infrared image for gathering the moment is existed Time and two, space angle are contrasted, and determine whether electricity transformer monitoring point temperature occurs exception；The time is same For some temperature compared with the historical data of the temperature, the space is synchronization operating mode situation same with same category of device Under temperature data be compared.

5. according to claim 3 be based on the collection of infrared imaging power transformer crusing robot thermal map and communication system, It is characterized in that：Described image pre-processes, and the basis that its process is handled by illumination-Reflectivity Model of image as frequency domain, adopts With the homomorphic filtering technology for being combined frequency filter and greyscale transformation, the brightness range and enhancing contrast of compressed picture are utilized To improve the quality of picture, the details of enhancing image is influenceed by eliminating uneven illumination；Image f（X, y）With luminance component i （X, y）With reflecting component r（X, y）Product represent：

f(x,y)=i(x,y)r(x,y) (1)；

Formula（1）In：Wherein, x, y are image transverse and longitudinal coordinate points, and image illumination component i (x, y) represents ambient light, image reflection point Amount r (x, y) represents the reflectivity properties of object.

6. according to claim 5 be based on the collection of infrared imaging power transformer crusing robot thermal map and communication system, It is characterized in that：The homomorphic filtering is one kind in a frequency domain while is compressed brightness of image scope and enters picture contrast The method of row enhancing, is carried out based on image imaging model；Homomorphic filtering technology principle is according to luminance component and reflection point Amount synthesis obtains gradation of image；Spatially, luminance component has slow qualitative change, and reflecting component has comparatively fast with image detail Change；Luminance component frequency spectrum is generally space low-frequency region, and reflecting component frequency spectrum is spatial high-frequency region；Wherein f（X, y）For Original image；g（X, y）For image after processing；In is logarithm operation；FFT is Fourier transformation；H (u, v) is filter passes letter Number；FFT^-1For inverse Fourier transform；Exp is exponent arithmetic.