Tree barrier analysis method and device based on vectorized power line and electronic equipment

Abstract

The present application relates to a kind of tree barrier analysis method, device and electronic equipment based on vectorization power line, the tree barrier analysis method includes the following steps: obtaining high-precision point cloud data, determine vectorization power line according to the high-precision point cloud data;Obtain low-precision point cloud data, obtain no power line point cloud data according to the low-precision point cloud data, wherein the low-precision point cloud data and the high-precision point cloud data are consistent with the aerial survey information;The no power line point cloud data and the vectorization power line are matched to obtain target point cloud data;Power line is analyzed based on the target point cloud data for tree barrier hidden danger.This tree barrier hidden danger analysis method can combine high-precision point cloud data and low-precision point cloud data to determine the target point cloud data for hidden danger analysis, then based on target point cloud data, tree barrier hidden danger analysis is carried out, reduces the point cloud data processing amount, improves the tree barrier hidden danger analysis efficiency, reduces the aerial survey cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of electric power tree barrier analysis, in particular to a tree barrier analysis method and device based on vectorized power lines and electronic equipment. BACKGROUND

[0002] Power grid safety is an important part of social public safety, and most of the power grid fault hidden dangers are caused by tree barrier hidden dangers. In order to ensure the safety of the power grid and the power supply, relevant personnel should timely inspect the power line environment and analyze the tree barrier. Usually, an unmanned aerial vehicle or other aerial survey equipment is used to fly along the power line layout line to obtain point cloud data, and then the tree barrier analysis is performed. In order to ensure the accuracy of the tree barrier hidden danger analysis, high-precision point cloud data is generally selected for analysis. However, the collection of high-precision point cloud data requires a large amount of manpower and material resources, and the hardware configuration requirements of the data collection equipment are high. Moreover, due to the large amount of data, the data processing efficiency is low when the tree barrier hidden danger analysis is performed based on high-precision point cloud data, which may even cause a delay in the feedback of the tree barrier analysis results. SUMMARY

[0003] To overcome the problems in the related art, the embodiments of the present application provide a tree barrier analysis method and device based on vectorized power lines and electronic equipment. The tree barrier analysis method based on vectorized power lines can determine target point cloud data for hidden danger analysis by combining high-precision point cloud data and low-precision point cloud data, and then perform tree barrier hidden danger analysis based on the target point cloud data. This reduces the amount of point cloud data processing, improves the efficiency of tree barrier hidden danger analysis, and reduces the cost of aerial survey.

[0004] According to a first aspect of the embodiments of the present application, the tree barrier analysis method based on vectorized power lines comprises the following steps:

[0005] Obtain high-precision point cloud data, and determine a vectorized power line based on the high-precision point cloud data;

[0006] Obtain low-precision point cloud data, and obtain non-power line point cloud data based on the low-precision point cloud data, wherein the aerial survey information of the low-precision point cloud data and the high-precision point cloud data is consistent;

[0007] Match the non-power line point cloud data with the vectorized power line to obtain target point cloud data;

[0008] Perform tree barrier hidden danger analysis on the power line based on the target point cloud data.

[0009] According to a second aspect of the embodiments of the present application, a tree barrier analysis device based on vectorized power lines is provided, comprising:

[0010] A first obtaining module is configured to obtain high-precision point cloud data, and determine a vectorized power line based on the high-precision point cloud data

[0011] a second obtaining module, configured to obtain low-precision point cloud data, and obtain non-power-line point cloud data according to the low-precision point cloud data, wherein the low-precision point cloud data and the high-precision point cloud data have consistent aerial survey information;

[0012] a point cloud matching module, configured to match the non-power-line point cloud data and the vectorized power line to obtain target point cloud data;

[0013] a hidden danger analysis module, configured to analyze tree barrier hidden dangers of the power line based on the target point cloud data.

[0014] According to a third aspect of the embodiment of the present application, an electronic device is provided, comprising a processor and a memory; the memory is electrically connected with the processor; the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to implement the tree barrier analysis method based on the vectorized power line according to any one of the above embodiments.

[0015] By using the above technical solutions of the present application, the high-precision point cloud data is obtained to determine the vectorized power line, so that the target point cloud data can be synthesized based on the vectorized power line in subsequent data analysis, instead of determining the power line based on the high-precision point cloud data each time as in the traditional tree barrier analysis method, thereby reducing the data processing amount; the low-precision point cloud data is obtained to obtain the non-power-line point cloud data, and the non-power-line point cloud data is matched with the vectorized power line to determine the target point cloud data, the non-power-line point cloud data being the low-precision point cloud data including the tree barrier information and removing the power line data, thereby further reducing the data processing amount, and in the synthesis of the target point cloud data, the power line in the same aerial survey route can be reused, thereby reducing the processing process of multiple determinations of the power line. Finally, the tree barrier analysis is performed based on the synthesized target point cloud data, at this time, the power line is complete and clear, and there is no situation that the power line is blocked by the tree barrier to affect the determination of the power line, which is helpful for the distance analysis between the tree barrier and the power line, and the hidden danger area is determined based on the preset safety distance to realize the tree barrier hidden danger analysis. In this method, the point cloud data processing amount is greatly reduced, the tree barrier hidden danger analysis efficiency is high, and the aerial survey cost is low.

[0016] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application.

[0017] In order to better understand and implement, the present application is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 a flowchart of the tree barrier analysis method based on the vectorized power line according to the embodiment of the present application;

[0019] Figure 2A flowchart of step S1 of the tree barrier analysis method shown in the embodiment of the present application;

[0020] Figure 3 A flowchart of step S2 of the tree barrier analysis method shown in the embodiment of the present application;

[0021] Figure 4 A flowchart of step S3 of the tree barrier analysis method shown in the embodiment of the present application;

[0022] Figure 5 A flowchart of step S4 of the tree barrier analysis method shown in the embodiment of the present application;

[0023] Figure 6 A structural diagram of the tree barrier analysis device based on vectorized power lines shown in the embodiment of the present application;

[0024] Figure 7 A structural diagram of the electronic device shown in the embodiment of the present application. DETAILED DESCRIPTION

[0025] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, the same numbers are used to indicate the same or similar components. The following detailed description is not meant to limit the present application to all of the embodiments described, but is intended to provide examples of the present application as claimed hereinafter.

[0026] The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0027] It is to be understood that the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. It is to be further understood that the terms "comprise", "comprising", "comprises", "including", "includes" or "contain" or "containing" when used in this specification, specify the presence of stated features, integers, steps, operations, elements, or components but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof. It is to be understood that the terms "including", "comprising", "consisting" and "consisting essentially of", when used herein, specify the presence of stated features, integers, steps, operations, elements, or components as well as those other features, integers, steps, operations, elements, components not specifically named or present. It is also to be understood that as used herein, the term "and / or", includes any and all combinations of one or more of the associated listed items.

[0028] The tree barrier analysis method based on vectorized power lines aims to combine high-precision point cloud data and low-precision point cloud data to determine target point cloud data for hidden danger analysis, and then perform tree barrier hidden danger analysis based on the target point cloud data, thereby reducing the point cloud data processing amount, improving the tree barrier hidden danger analysis efficiency, and reducing the aerial survey cost.

[0029] The following is described by means of specific embodiments.

[0030] According to a first aspect of the embodiment of the present application, a tree barrier analysis method based on vectorized power lines is disclosed, which is applied to an electronic device. The electronic device can realize the tree barrier analysis method based on vectorized power lines in a pure software manner, or in a software and hardware combined manner. In this embodiment, the tree barrier analysis method based on vectorized power lines is applied to the processing of point cloud data in power tree barrier aerial survey applications. The electronic device can be a computer, an interactive tablet, a server, or other intelligent devices. The electronic device of the present application can be a server for power tree barrier point cloud data analysis and processing.

[0031] Please refer to Figure 1 , Figure 1 The flowchart of the tree barrier analysis method based on vectorized power lines shown in the embodiment of the present application is shown.

[0032] The tree barrier analysis method based on vectorized power lines includes the following steps:

[0033] S1: Obtain high-precision point cloud data, and determine vectorized power lines according to the high-precision point cloud data.

[0034] In this embodiment, flight aerial survey is performed by the aerial survey device installed on the unmanned aerial vehicle, and the collected original power tree barrier point cloud data is saved in the memory of the aerial survey device on the unmanned aerial vehicle. When the unmanned aerial vehicle aerial survey task is completed, the memory on the aerial survey device is connected with the data uploading device, the original power tree barrier point cloud data is uploaded to the server through the data uploading device, and the server executes the tree barrier analysis method based on vectorized power lines in the present application to process and analyze the point cloud data.

[0035] In an optional embodiment, the aerial survey device on the unmanned aerial vehicle can be provided with a wireless communication module for returning the original point cloud data to the server. The wireless communication module is connected with the server in real time, and the collected original point cloud data is returned to the server in time, so as to facilitate the server to process the point cloud data in time and improve the timeliness of point cloud data processing. The wireless communication module can be a 4G communication module or a 5G communication module, or other communication modules.

[0036] In an optional embodiment, please refer to Figure 2 , Figure 2A flowchart of step S1 of the tree barrier analysis method based on vectorized power lines according to an embodiment of the present application is shown.

[0037] Step S1 includes:

[0038] S11: Obtain high-precision point cloud data.

[0039] When the high-precision point cloud data is collected for the first time, the high-precision point cloud data is obtained by flying along a preset power line route with a high-precision collection device, and taking a photo of the power line and the surrounding environment, especially the tree barrier, to obtain high-precision point cloud data. The specific model and structure of the high-precision collection device are not limited in the present embodiment.

[0040] Optionally, step S11 can be: when the power line is not blocked by a tree barrier, flying along a preset power line route with a high-precision aerial survey device to obtain high-precision point cloud data by taking a photo of the power line environment in all directions.

[0041] If the power line is blocked by a tree barrier or other things, it cannot be quickly and accurately determined when the power line is extracted. Therefore, in order to determine a clear and complete power line and to improve the power line extraction efficiency, the high-precision point cloud data can be collected when the power line is not blocked by a tree barrier, which helps to quickly and accurately extract the power line from the point cloud data and can reduce the post-processing of the power line.

[0042] In an optional embodiment, the high-precision point cloud data can be collected by a flight mode of taking a photo in all directions, such as a detour flight mode, so that the collected high-precision point cloud data contains a relatively complete power line.

[0043] S12: Extract an initial power line based on the high-precision point cloud data.

[0044] Since this step is to determine a clear and complete power line, if the power line is extracted based on low-precision point cloud data, the extracted power line may not be complete or may have errors, thereby affecting the power line extraction efficiency and accuracy. Therefore, in the present embodiment, high-precision point cloud data is used to extract the power line.

[0045] In an optional embodiment, when the initial power line is extracted based on the high-precision point cloud data, the extracted initial power line has missing points or misclassified points, and the missing points or misclassified points need to be repaired to obtain a complete and clear power line.

[0046] If the extracted initial power line has missing points, the left hanging point, sag point, and right hanging point of the power line are determined along the power line distribution track, and a complete initial power line is fitted based on the left hanging point, sag point, and right hanging point of the power line. The method of fitting the power line is not limited in the present application.

[0047] If the extracted initial power line has a misclassified point, the initial power line is corrected based on the distribution area of the power line using a region growing algorithm. The implementation steps of the region growing algorithm are not limited in the present application.

[0048] If the extracted initial power line has a misclassified point, the missing power line can also be corrected by manually selecting the range.

[0049] In an optional embodiment, when the initial power line is extracted, the high-precision point cloud data is also preprocessed, wherein the preprocessing includes noise reduction processing, such as removing noise of high and low points.

[0050] S13: Obtain aerial survey information and positioning information, and determine the initial power line model based on aerial survey information matching and positioning information matching.

[0051] The high-precision point cloud data includes aerial survey information, which includes flight route, flight height, flight starting point, flight ending point, flight mode, handheld base station position, and other information. Each data point in the high-precision point cloud data contains positioning information based on latitude and longitude. Therefore, the initial power line model can be determined based on the aerial survey information and the positioning information.

[0052] Optionally, the aerial survey information can also include environmental information during aerial photography, such as atmospheric pressure, temperature, humidity, and other information.

[0053] Optionally, the aerial survey information can be obtained by the aerial photography device or other devices during aerial photography.

[0054] Optionally, in order to facilitate the developer to intuitively observe the integrity and accuracy of the power line, the initial power line model can also be displayed in real time through a window when determining the initial power line model.

[0055] S14: Vectorize the initial power line model to obtain a vectorized power line.

[0056] The vectorized power line is a power line determined after vectorization from the high-precision point cloud data. Specifically, the vectorization process can be: determining a plurality of points in the power line, and determining the position information of the plurality of points. Based on the plurality of points and the position information thereof, the power line can be vectorized.

[0057] For example, a vector graphic is actually formed by a line segment forming an outer frame contour, and the color of the outer frame and the color enclosed by the outer frame determine the color displayed by the vector graphic. Since the vector graphic can be obtained by formula calculation, the volume of the vector graphic file is generally small. The advantage of the vector graphic is that it will not be distorted no matter how it is enlarged, reduced, or rotated.

[0058] S2: Obtain low-precision point cloud data, and obtain power line-free point cloud data according to the low-precision point cloud data, wherein the low-precision point cloud data and the high-precision point cloud data have consistent aerial survey information.

[0059] The low-precision point cloud data is obtained by flying along the preset power line with a low-precision acquisition device, and taking a photo of the power line and the surrounding environment, especially the tree barrier. The specific model and structure of the low-precision acquisition device are not limited in the embodiment. The flight route during the collection of the low-precision point cloud data is consistent with the flight route during the collection of the high-precision point cloud data, that is, the data is obtained by taking a photo along the same preset power line during the collection of the high-precision point cloud data and the collection of the low-precision point cloud data.

[0060] Optionally, the vectorized power line can also be stored in a server management platform, so as to be called by other personnel or called subsequently. In some cases, the vectorized power line can also be reused across platforms and systems.

[0061] In an optional embodiment, please refer to Figure 3 , Figure 3 FIG. 2 is a flowchart of step S2 of the tree barrier analysis method based on the vectorized power line shown in the embodiment of the present application.

[0062] Step S2 includes:

[0063] S21: Obtain low-precision point cloud data.

[0064] In an optional embodiment, the low-precision point cloud data is obtained by flying along the preset power line with a low-precision aerial survey device based on the aerial survey information in the high-precision point cloud data.

[0065] The high-precision point cloud data and the low-precision point cloud data are different data obtained by taking a photo of the same power line at different times, wherein the data amount of the low-precision point cloud data is less than the data amount of the high-precision point cloud.

[0066] In order to ensure the consistency of the collection environment of the high-precision point cloud data and the low-precision point cloud data, the low-precision point cloud data is collected based on the aerial survey information of the high-precision point cloud data, that is, at least based on the same flight trajectory, so that the two groups of point cloud data can be combined to obtain target point cloud data subsequently.

[0067] If the flight trajectory of the low-precision point cloud data is different from the flight trajectory during the collection of the high-precision point cloud data, the flight trajectory needs to be calibrated and adjusted by manual or system. During the calibration and adjustment, the same reference object, such as the same tower, can be used for calibration and adjustment.

[0068] In addition, the aerial survey information further includes flight height, flight starting point, flight ending point, flight mode, and handheld base station information. In order to improve the similarity of the aerial survey environment, the aerial survey information needs to be consistent in two flight aerial surveys.

[0069] Optionally, in the low-precision point cloud data collection, a linear flight mode can be used for aerial photography.

[0070] S22: Analyzing the low-precision point cloud data to determine power lines to be removed.

[0071] In this embodiment, a classification algorithm can be called to determine the power lines in the low-precision point cloud data, so as to remove the power lines in subsequent steps.

[0072] S23: Removing the power lines in the low-precision point cloud data to obtain power-line-free point cloud data.

[0073] The power-line-free point cloud data obtained by removing the power lines in the low-precision point cloud data is point cloud data containing tree barrier information. Merging the power-line-free point cloud data and the vectorized power lines can obtain target point cloud data with a smaller data amount and a higher effective data proportion.

[0074] S3: Matching the power-line-free point cloud data and the vectorized power lines to obtain target point cloud data.

[0075] In this embodiment, please refer to Figure 4 , Figure 4 The flowchart of step S3 of the tree barrier analysis method based on the vectorized power lines shown in the embodiments of the present application.

[0076] Step S3 includes the following steps:

[0077] S31: Determining the position information of each matching point of the vectorized power lines and the first aerial survey information.

[0078] The vectorized power lines are graphics composed of multiple line segments, and there are nodes between the line segments. The connection nodes between the line segments can be determined as matching points.

[0079] S32: Determining the position information of each point cloud data in the power-line-free point cloud data and the second aerial survey information.

[0080] Based on the same position information, the data points in the power-line-free point cloud data and the matching points on the vectorized power lines are determined, so as to match the power-line-free point cloud data and the vectorized power lines. In addition, the first aerial survey information carried by the vectorized power lines needs to be consistent with the second aerial survey information of the power-line-free point cloud data, so as to ensure that the point cloud is synthesized based on the same flight trajectory.

[0081] S33: match and synthesize the vectorized power line and the non-power line point cloud data based on the position information of each matching point of the vectorized power line, the first aerial survey information, the position information of the non-power line point cloud data, and the second aerial survey information.

[0082] S4: analyze the tree barrier hidden danger based on the target point cloud data.

[0083] Referring to Figure 5 , Figure 5 A flowchart of step S4 of the tree barrier analysis method based on the vectorized power line according to the embodiment of the present application is shown.

[0084] S41: determine a preset safety distance between the tree barrier and the power line, and determine and identify the tree barrier hidden danger area based on the preset safety distance.

[0085] To ensure that the power line is not disturbed by the tree barrier and ensure the safety of power transportation, a certain preset safety distance needs to be maintained between the tree barrier and the power line. If the distance between the tree barrier and the power line is less than the preset safety distance, the tree barrier may affect the power transportation and cause safety hazards. Therefore, the tree barrier with a distance less than the preset safety distance is identified.

[0086] In an optional embodiment, to more intuitively display the tree barrier information, the tree barrier hidden danger area can be identified in combination with a map.

[0087] S42: determine the hidden danger point coordinates in the tree barrier hidden danger area closest to the power line, and determine the hidden danger level according to the clearance distance between the hidden danger point coordinates and the power line.

[0088] In this embodiment, the hidden danger level can be set according to the distance between the tree barrier and the power line. The closer the tree barrier is to the power line, the higher the hidden danger level, which can be set to level one. The farther the tree barrier is from the power line, the lower the hidden danger level, which can be set to level two, level three, or level four. When displaying the tree barrier information, the hidden danger level of the tree barrier hidden danger area can be identified in combination with a map or identified with different colors.

[0089] In an optional embodiment, after the tree barrier hidden danger analysis, a hidden danger list and a point cloud with a hidden danger mark can be formed. The hidden danger list is displayed in combination with the point cloud, providing hidden danger marking exception functions, hidden danger merging functions, and export functions. Among them, the hidden danger marking exception function: to avoid abnormal identification of the program, the hidden danger can be set to an abnormal state and not participate in data export. The hidden danger merging function: when two hidden dangers are very close, the two hidden dangers can be merged into one to reduce the workload of subsequent barrier removal. The hidden danger export function: provides different forms of hidden danger data for export, including hidden danger different view screenshots, clearance distances, latitude and longitude, defect levels, hidden danger consequence degrees, hidden danger types, word, excel, and different types and data.

[0090] The vectorized power line based tree barrier analysis method of the present application is applied to obtain high-precision point cloud data to determine the vectorized power line, so that the target point cloud data can be synthesized based on the vectorized power line in subsequent data analysis, instead of determining the power line based on the high-precision point cloud data each time as in the traditional tree barrier analysis method, thereby reducing the data processing amount. The low-precision point cloud data is obtained to obtain the power line free point cloud data, the power line free point cloud data is matched with the vectorized power line to determine the target point cloud data, and the power line free point cloud data is the low-precision point cloud data including the tree barrier information and removing the power line data, thereby further reducing the data processing amount. In the target point cloud data synthesis, the power line in the same aerial survey route can be reused, thereby reducing the processing process of multiple determinations of the power line. Finally, the tree barrier analysis is performed based on the synthesized target point cloud data, at this time, the power line is complete and clear, and the situation of being blocked by the tree barrier to affect the determination of the power line does not exist, which is helpful for the distance analysis between the tree barrier and the power line, and the hidden danger area is determined based on the preset safety distance to realize the tree barrier hidden danger analysis. In the method, the point cloud data processing amount is greatly reduced, the tree barrier hidden danger analysis efficiency is high, and the aerial survey cost is low.

[0091] The technical solution of the present application can be applied to power line tree barrier hidden danger analysis, and the related technology can be extended for use in building construction early warning, regional engineering supervision, ecological engineering supervision and other scenes to provide reliable support and guarantee for economic and social development.

[0092] According to the second aspect of the embodiment of the present application, a vectorized power line based tree barrier analysis device is disclosed, which can be used to execute the content of the vectorized power line based tree barrier analysis method of the corresponding embodiment of the present application and has the corresponding functions and beneficial effects. For details not disclosed in the vectorized power line based tree barrier analysis device embodiment of the present application, please refer to the content of the vectorized power line based tree barrier analysis method of the present application.

[0093] Please refer to Figure 6 , Figure 6 The structure diagram of the vectorized power line based tree barrier analysis device shown in the embodiment of the present application.

[0094] The vectorized power line based tree barrier analysis device 600 comprises:

[0095] The first obtaining module 610 is configured to obtain high-precision point cloud data, and determine the vectorized power line according to the high-precision point cloud data

[0096] The second obtaining module 620 is configured to obtain low-precision point cloud data, and obtain power line free point cloud data according to the low-precision point cloud data, wherein the aerial survey information of the low-precision point cloud data and the high-precision point cloud data is consistent;

[0097] The point cloud matching module 630 is configured to match the non-power line point cloud data and the vectorized power line to obtain target point cloud data.

[0098] The hidden danger analysis module 640 is configured to perform tree barrier hidden danger analysis on the power line based on the target point cloud data.

[0099] Compared with the prior art, the tree barrier hidden danger analysis device can determine target point cloud data for hidden danger analysis by combining high-precision point cloud data and low-precision point cloud data, and perform tree barrier hidden danger analysis based on the target point cloud data, thereby reducing the amount of point cloud data processing, improving the tree barrier hidden danger analysis efficiency, and reducing the aerial survey cost.

[0100] It should be noted that the tree barrier analysis device based on the vectorized power line provided in the above embodiments is used to execute the tree barrier analysis method based on the vectorized power line, and the above functions are only used as examples in the division of the functional modules. In actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above-described functions. In addition, the tree barrier analysis device based on the vectorized power line and the tree barrier analysis method based on the vectorized power line provided in the above embodiments belong to the same concept, and the implementation process is described in detail in the embodiments, which will not be described here.

[0101] According to a third aspect of the embodiments of the present application, an electronic device is provided, referring to Figure 7 , Figure 7 is a structural schematic diagram of the electronic device shown in the embodiments of the present application.

[0102] The electronic device 100 includes a processor 110 and a memory 140, and the memory 140 is electrically connected to the processor 110 through a communication bus 150. The memory 140 stores a computer program, and the computer program is adapted to be loaded and executed by the processor 110 to perform the tree barrier analysis method of any one of the above embodiments.

[0103] The electronic device 100 includes at least one processor 110, at least one network interface 120, a user interface 130, a memory 140, and at least one communication bus 150. The communication bus 150 is used to realize the connection and communication between the components.

[0104] The user interface 130 can include an interface for connecting a display screen and an interface for connecting a camera. Optionally, the user interface 130 can further include a standard wired interface and a wireless interface.

[0105] The network interface 120 can optionally include a standard wired interface and a wireless interface (such as a WIFI interface).

[0106] The processor 110 can include one or more processing cores. The processor 110 connects various parts within the entire electronic device 100 with various interfaces and lines, performs various functions of the intelligent device 100 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the processor 110, and calling data stored in the memory 140. Alternatively, the processor 110 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 110 can integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes an operating system, a user interface, and an application program; the GPU is responsible for rendering and drawing the content required to be displayed on the display screen; and the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 110, but can be implemented by a separate chip.

[0107] The memory 140 can include a random access memory (RAM) and can also include a read-only memory (ROM). Optionally, the memory 140 includes a non-transitory computer-readable storage medium. The memory 140 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 140 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store data involved in the above-mentioned various method embodiments, etc. The memory 740 can also be at least one storage device located away from the aforementioned processor 110. As shown, the memory 140 as a computer storage medium can include an operating system, a network communication module, a user interface module, and an operating application program of the intelligent device. Figure 1 As shown, the memory 140 as a computer storage medium can include an operating system, a network communication module, a user interface module, and an operating application program of the intelligent device.

[0108] In Figure 1The user interface 130 in the electronic device 100 shown is mainly used to provide an interface for the user to input, for receiving the point cloud raw data uploaded by the user; and the processor 110 can be used to call the operation application of the smart device stored in the memory 140, and perform the related operations in the tree barrier analysis method in the above embodiments.

[0109] The electronic device described above can be used to perform the content of the tree barrier analysis method of the corresponding embodiments of the present application, and has the corresponding functions and beneficial effects.

[0110] According to a fourth aspect of the embodiments of the present application, a computer readable storage medium is provided, which stores a computer program, the computer program is executed by a processor to implement the related operations in the tree barrier analysis method based on the vectorization power line according to any one of the above embodiments, and has the corresponding functions and beneficial effects.

[0111] The computer readable medium includes permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tape, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition in this paper, computer readable medium does not include transitory computer readable medium, such as modulated data signal and carrier wave.

[0112] It should also be noted that the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, product or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, product or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, product or device including the element.

[0113] It is to be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the application. The word "comprising" does not exclude the presence of elements or steps other than those listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. It is further noted that characteristics relating to the different embodiments can be combined, and not just those within respective sections of the description.

Claims

1. A tree barrier analysis method based on vectorized power lines, characterized by, The method comprises the following steps: When the power line is not blocked by trees, high-precision aerial survey equipment is used to fly along the preset power line route to obtain high-precision point cloud data by performing omnibearing aerial survey on the power line environment, and an initial power line is extracted based on the high-precision point cloud data; Obtaining aerial survey information and positioning information, and performing aerial survey information matching and positioning information matching based on the initial power line to determine an initial power line model; The initial power line model is subjected to vectorization processing to obtain a vectorized power line; the vectorized power lines in the same aerial survey route can be reused; Based on the aerial survey information in the high-precision point cloud data, low-precision aerial survey equipment is used to fly along the preset power line route to obtain low-precision point cloud data by performing aerial survey on the power line environment, and a power line to be removed is determined by analyzing the low-precision point cloud data; The power line in the low-precision point cloud data is removed to obtain power line-free point cloud data, wherein the aerial survey information of the low-precision point cloud data and the high-precision point cloud data is consistent; The power line-free point cloud data and the vectorized power line are matched and synthesized to obtain target point cloud data; Based on the target point cloud data, tree barrier hidden danger analysis is performed on the power line.

2. The vectorized power line based tree outage analysis method of claim 1, wherein, When the initial power line is extracted based on the high-precision point cloud data, If there are missed points in the extracted initial power line, the left hanging point, the sag point and the right hanging point of the power line are determined along the power line distribution track, and a complete initial power line is fitted based on the left hanging point, the sag point and the right hanging point of the power line; And / or, If there are misclassified points in the extracted initial power line, the initial power line is corrected by using a region growing algorithm based on the distribution area of the power line.

3. The vectorized power line based tree outage analysis method of claim 1, wherein, The matching of the power line-free point cloud data and the vectorized power line to obtain target point cloud data comprises: Determine the position information and the first aerial survey information of each matching point of the vectorized power line; Determine the position information and the second aerial survey information of each point cloud data in the power line-free point cloud data; Based on the position information of the vectorized power line, the first aerial survey information, the position information of the power line-free point cloud data and the second aerial survey information, the vectorized power line and the power line-free point cloud data are matched and synthesized to obtain target point cloud data.

4. The vectorized power line based tree outage analysis method of claim 1, wherein, The tree barrier hidden danger analysis based on the target point cloud data on the power line comprises: Determine a preset safety distance between the tree barrier and the power line, determine and identify a tree barrier hidden danger area based on the preset safety distance; Determine the coordinates of the hidden danger point closest to the power line in the tree barrier hidden danger area, and determine the hidden danger level according to the clearance distance between the hidden danger point coordinates and the power line.

5. A tree barrier analysis apparatus based on vectorized power lines, characterized by, It comprises: The first acquisition module is used to fly along the preset power line route by high-precision aerial survey equipment when the power line is not blocked by trees, to obtain high-precision point cloud data by performing omnibearing aerial survey on the power line environment, and to extract an initial power line based on the high-precision point cloud data; Obtaining aerial survey information and positioning information, and performing aerial survey information matching and positioning information matching based on the initial power line to determine an initial power line model; The initial power line model is subjected to vectorization to obtain a vectorized power line; the vectorized power lines in the same aerial survey route can be reused; The second acquisition module is configured to acquire low-precision point cloud data by flying along a preset power line route and performing aerial survey on the power line environment based on aerial survey information in the high-precision point cloud data, and analyze the low-precision point cloud data to determine power lines to be removed; The low-precision point cloud data is subjected to power line removal to obtain power line-free point cloud data, wherein the aerial survey information of the low-precision point cloud data and the high-precision point cloud data is consistent; The point cloud matching module is configured to match and synthesize the power line-free point cloud data and the vectorized power line to obtain target point cloud data; The hidden danger analysis module is configured to analyze tree barrier hidden dangers of the power line based on the target point cloud data.

6. An electronic device, comprising: Comprise: A processor and a memory electrically connected to each other; The memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to implement the tree barrier analysis method based on the vectorized power line according to any one of claims 1 to 4.

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