Research On Measurement Of Conductor Jump Track To Ice-shedding Based On Binocular Stereo Vision Technology

Overhead transmission line is an important component of the power grid, under certain weather condit ion, the surface of conductor will be covered with ice, and ice-shedding from conductor can cause great damage to the power grid in electrical and mechanical aspects. To provide data support to ice-shedding damage mechanism studying, icing monitoring and preventing, and designing of tower structure, accurate measurement of conductor jump track to ice-shedding is necessary. Therefore, in this paper, icing is simulated by hanging weight on the actual size conductor, and binocular stereo vision technology is employed to measure the ice-shedding vibration, several key technologies including error compensation, calibration of structure parameters and stereo matching are studied detailedly. Vibration characteristics are determined through deep analysis of the conductor jump track, which can provide a reference for later research.Firstly, icing phenomenon of overhead transmission line is introduced, and the domestic and foreign research status of conductor motion track measurement and binocular stereo vision technology is carried on in details. Under the background of actual need to measure the jump track in engineering field, th e research project is put forward.Secondly, the camera imaging model is established by combining pinhole imaging model and four relevant coordinate system, which is used to explain the principle of binocular stereo vision technology, besides, the relationship between binocular system structure and error, checkerboard calibration method to solve internal parameters and external parameters of camera, and image rectification technology are also interpreted in depth.Thirdly, binocular system with short baseline is used to measure the jump track, and error compensation technology is adopted to improve the accuracy, the stereo matching is accomplished by intersection characteristic of epipolar lines and the center line of the conductor, and the complete track curve in vertical direction is achieved.Lastly, binocular system with large baseline is used to measure the jump track, during the calibration process of binocular system, the reprojection error function is employed to optimize the structure parameters, and complete track curve in vertical and horizontal direction is obtained, several features of the track curve is summarized.