Monitoring method, device, equipment and storage medium for compliance laying of transmission and distribution lines

Abstract

The present invention provides a monitoring method, device, equipment and storage medium for the compliant laying of power transmission and distribution lines, and relates to the technical field of compliant laying of distribution networks. In this application, a bird's-eye view of the ground is collected in real time by a drone, and the bird's-eye view of the ground is traversed to automatically find a first area of ​​interest containing a first preset image, and then the relative distance between the wire and the road (or the wire and the railway) and the relative angle between the wires are calculated according to the first area of ​​interest, and compared with the critical threshold of the "three spans" design standard of the power transmission and distribution line to determine whether it is a compliant operation. Through this method, the inspection image can be transmitted back to the image processing system in real time, and the command center can realize intelligent control of drone flight and identification of "three spans"; using image recognition technology, a monitoring and analysis system for illegal "three spans" of the State Grid's power transmission and distribution lines is constructed to achieve multi-dimensional management goals of all-weather supervision, complex environment supervision, full-angle supervision, and full-range supervision.

Description

Technical Field

[0001] The present invention relates to the technical field of compliant laying of distribution networks, and in particular to a monitoring method, device, equipment and storage medium for compliant laying of transmission and distribution lines. Background Art

[0002] At present, the equipment in the monitoring process is greatly affected by external factors, there are errors in accuracy, and there are errors in monitoring data. State Grid and other technology companies do not have automated monitoring methods to solve the three-span problem. In addition, due to the limitations of traditional monitoring methods, there is a large consumption of manpower and material resources, high occupancy rate, and there are many areas that cannot be reached or monitored by manpower, which become blind spots for monitoring, resulting in incomplete three-span monitoring data and affecting the progress of work. Summary of the invention

[0003] The purpose of the present invention is to provide a monitoring method, device, equipment and storage medium for the compliance laying of power transmission and distribution lines to improve the above problems. In order to achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0004] In a first aspect, the present application provides a method for monitoring the compliance laying of power transmission and distribution lines, including:

[0005] Get a bird's eye view of the ground;

[0006] Determining whether the bird's-eye view of the ground contains a first preset image, and if the bird's-eye view of the ground contains the first preset image, marking it as a first region of interest;

[0007] Based on the first region of interest, a three-dimensional panoramic image is obtained, where the three-dimensional panoramic image is a three-dimensional stereo model reconstructed based on the first region of interest;

[0008] Determine whether the three-dimensional panoramic image contains a second preset image. If the three-dimensional panoramic image contains the second preset image, monitor whether the power transmission and distribution lines are laid in compliance with regulations based on the three-dimensional panoramic image and preset conditions. The preset conditions are the height critical threshold and angle critical threshold of the power transmission and distribution lines crossing the line design standards.

[0009] In a second aspect, the present application also provides a monitoring device for compliance laying of power transmission and distribution lines, including an acquisition module, a first judgment module, an interception module, and a second judgment module, wherein:

[0010] Acquisition module: used to obtain a bird's-eye view of the ground;

[0011] A first judging module: used for judging whether the bird's-eye view of the ground contains a first preset image, and if the bird's-eye view of the ground contains the first preset image, marking it as a first region of interest;

[0012] A capture module: used for obtaining a three-dimensional panoramic image based on the first region of interest, wherein the three-dimensional panoramic image is a three-dimensional stereo model reconstructed based on the first region of interest;

[0013] The second judgment module is used to judge whether the three-dimensional panoramic image contains a second preset image. If the three-dimensional panoramic image contains the second preset image, whether the power transmission and distribution lines are laid in compliance with regulations is monitored based on the three-dimensional panoramic image and preset conditions. The preset conditions are the height critical threshold and angle critical threshold of the power transmission and distribution lines crossing the line design standards.

[0014] Thirdly, the present application also provides monitoring equipment for compliance laying of transmission and distribution lines, including:

[0015] Memory for storing computer programs;

[0016] A processor is used to implement the steps of the method for monitoring the compliance installation of power transmission and distribution lines when executing the computer program.

[0017] In a fourth aspect, the present application further provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above-mentioned monitoring method based on the compliance laying of transmission and distribution lines are implemented.

[0018] The beneficial effects of the present invention are:

[0019] In the present application, a drone is used to collect a bird's-eye view of the ground in real time, and the bird's-eye view of the ground is traversed to find a first area of ​​interest containing a first preset image. Then, the actual height of the wire is calculated based on the first area of ​​interest, and it is compared with the critical threshold of the crossing line design standard of the transmission and distribution line to determine whether it is a compliant operation. Through this method, the inspection image can be transmitted back to the image processing system in real time, and remote collaboration and expert guidance at the inspection site can be achieved at the command center; using image recognition technology, a monitoring and analysis system for the "three crossings" of State Grid's transmission and distribution line violations is constructed to achieve multi-dimensional management goals of all-weather supervision, complex environment supervision, all-angle supervision, and full-range supervision.

[0020] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or be understood by implementing the embodiments of the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 It is a schematic diagram of the flow of the monitoring method for the compliance laying of the power transmission and distribution lines described in an embodiment of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of a monitoring device for compliance laying of power transmission and distribution lines described in an embodiment of the present invention;

[0024] Figure 3 It is a schematic diagram of the structure of another monitoring device for compliance laying of power transmission and distribution lines described in an embodiment of the present invention;

[0025] Figure 4 It is a schematic diagram of the structure of the monitoring equipment for the compliance laying of the transmission and distribution lines described in an embodiment of the present invention.

[0026] In the figure: 710-acquisition module; 720-first judgment module; 730-interception module; 731-first acquisition unit; 732-learning unit; 733-first segmentation unit; 734-search unit; 735-marking unit; 740-second judgment module; 741-first calculation unit; 742-acquisition sub-unit; 743-second calculation unit; 744-third calculation unit; 745-fourth calculation unit; 746-sub-judgment unit; 750-second acquisition unit; 751-fifth calculation unit; 752-second segmentation unit; 753-third segmentation unit; 754-sixth calculation unit; 755-seventh calculation unit; 756-eighth calculation unit; 757-ninth calculation unit; 758-processing unit; 800-monitoring equipment for compliance laying of transmission and distribution lines; 801-processor; 802-memory; 803-multimedia component; 804-I / O interface; 805-communication component. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0029] Embodiment 1:

[0030] See also Figure 1 , Figure 1 It is a flow chart of a monitoring method for compliance laying of power transmission and distribution lines described in an embodiment of the present invention. The monitoring method for compliance laying of power transmission and distribution lines includes step S1, step S2, step S3 and step S4.

[0031] Step S1, obtaining a bird's-eye view of the ground.

[0032] It can be understood that in this step, the real scene images on the ground are collected in real time by the drone and transmitted to the image processing system on the ground.

[0033] Step S2: determine whether the bird's-eye view of the ground contains a first preset image, and if the bird's-eye view of the ground contains the first preset image, mark it as a first region of interest.

[0034] It can be understood that in this step, the first preset image in this embodiment is the electric wire, and the image processing system searches in real time based on the bird's-eye view of the ground whether it contains the first preset image, and if so, marks the first preset image as the first area of ​​interest.

[0035] The marking method of the first region of interest includes step S201, step S202, step S203, step S204 and step S205.

[0036] Step S201: Acquire at least one thousand sets of electric pole tower images, transmission channel images and electric wire images in real scenes, wherein the transmission channel images include images of roads, railways and important transmission lines.

[0037] Step S202: performing deep learning based on the electric pole tower image, the transmission channel image and the electric wire image to obtain a segmentation model.

[0038] It can be understood that in this step, the image-based deep learning algorithm learns the power pole tower image, the transmission channel image and the power line image respectively to obtain a calibrated segmentation model. Deep learning includes convolutional neural network algorithm, deep neural network algorithm and generative adversarial network algorithm.

[0039] Step S203: input the bird's-eye view of the ground into the segmentation model to obtain a segmented image.

[0040] It can be understood that in this step, the bird's-eye view of the ground is input into the segmentation model, and the roads, railways, important transmission lines, electric poles and wires waiting to be observed are identified and marked in the bird's-eye view of the ground, and the segmented image is output in the form of a two-dimensional segmentation box.

[0041] Step S204: Determine a target image based on the segmented image and a second preset condition.

[0042] It can be understood that in this step, the target image is calibrated in the segmented image according to the second preset condition, and the target image includes road images, railway images, important transmission line images, telephone pole tower images and wire images. The second preset condition is the outer contour graphics of the above five types of images.

[0043] Step S205: Based on all the target images, mark the target image that is consistent with the first preset image as a first region of interest.

[0044] Step S3: obtaining a three-dimensional panoramic image based on the first region of interest, wherein the three-dimensional panoramic image is a three-dimensional stereo model reconstructed based on the first region of interest.

[0045] It is understandable that in this step, when the image analysis system in the ground station automatically searches for poles and roads, the search results will be transmitted to the UAV flight control module through the communication system. The flight control will control the UAV to hover above the road (or railway, transmission channel) and cross the transmission and distribution lines to shoot. The shooting picture should include images of the transmission and distribution lines, the objects being crossed, and the surrounding poles and towers. The three-dimensional stereo model, i.e., the three-dimensional panoramic view, is obtained by assembling and reconstructing the images obtained by the UAV. The three-dimensional real scene information of the wires and their coordinate information and spatial information relative to the ground can be obtained from the three-dimensional panoramic view.

[0046] Step S4, determining whether the three-dimensional panoramic image contains a second preset image. If the three-dimensional panoramic image contains the second preset image, monitoring whether the power transmission and distribution lines are laid in compliance with regulations is performed based on the three-dimensional panoramic image and preset conditions. The preset conditions are a height critical threshold and an angle critical threshold of the power transmission and distribution lines crossing the line design standard.

[0047] It is understandable that in this step, the second preset image in this embodiment is a highway image, and in other embodiments the second preset image can also be a railway, a power transmission channel, etc., without specific limitation. It is determined whether the three-dimensional panoramic image contains the second preset image. If it does, the coordinate information obtained from the three-dimensional panoramic image is used to obtain the shortest distance of the wire relative to the ground, and the shortest distance is compared with the height critical value in the preset conditions. If it is lower than the height critical value, a non-compliant warning signal is issued. At the same time, the angle of the wire relative to the ground is compared with the angle critical threshold in the preset conditions. If it is lower than the angle critical value, a non-compliant warning signal is issued. Only when the height and angle meet the conditions for compliant laying can it be truly compliant laying.

[0048] The method for calculating the true height of a power pole tower includes steps S401, S402, S403, S404, S405 and S406.

[0049] Step S401: According to the three-dimensional panoramic image and the second preset image, a first parameter, a second parameter and a spatial parameter are obtained, wherein the first parameter is the spatial coordinate of the lowest point of the first preset image relative to the second preset image in the three-dimensional panoramic image, and the second parameter is the longitudinal spatial coordinate of the electric pole tower in the three-dimensional panoramic image; the spatial parameter is the three-dimensional spatial relationship matrix of the drone camera relative to the ground coordinate system.

[0050] It can be understood that in this step, the first parameter is the spatial coordinates of the lowest point of the electric wire relative to the road in the three-dimensional panoramic image; the second parameter is the longitudinal spatial coordinates of the electric pole towers at both ends of the electric wire in the three-dimensional panoramic image, and the spatial parameter is the three-dimensional spatial relationship matrix of the position at which the drone is located when shooting.

[0051] Step S402: Obtain the actual height of the electric pole tower.

[0052] Step S403: Obtain a similarity ratio according to the actual height of the electric pole tower and the second parameter.

[0053] Step S404: obtaining a coordinate parameter of the lowest point of the electric wire according to the similarity ratio and the first parameter, wherein the coordinate parameter of the lowest point of the electric wire is a spatial coordinate corresponding to the lowest point of the electric wire erected between the two electric wire towers.

[0054] It can be understood that, in this step, the first parameter and the similarity ratio are calculated to obtain the spatial coordinates of the lowest point of the wire relative to the ground in the actual scene, that is, the coordinate parameters of the lowest point of the wire.

[0055] Step S405: Obtain the true height of the lowest point of the electric wire based on the product of the coordinate parameter of the lowest point of the electric wire and the spatial parameter.

[0056] It can be understood that, in this step, by multiplying the coordinate parameter of the lowest point of the electric wire with the space parameter, the real height of the electric wire relative to the ground can be obtained.

[0057] Step S406: determine whether the current power transmission and distribution line is laid in compliance with regulations based on the actual height of the lowest point of the electric wire and the height critical threshold in the preset conditions; if the current power transmission and distribution line is laid in compliance with regulations, obtain the angle between the first preset image and the second preset image based on the three-dimensional panoramic image, and determine whether the current power transmission and distribution line is laid in compliance with regulations based on the angle critical threshold in the preset conditions.

[0058] It can be understood that in this step, based on the calculated real height and preset conditions, it is judged whether the current power transmission and distribution line is laid in compliance with regulations. By using similar calculations and images to calculate the real height of the wire, the calculation accuracy can be increased to obtain a more accurate actual height of the wire, thereby improving the monitoring accuracy. When the height of the wire meets the requirements of legal laying, the angle of the wire relative to the road (railway, etc.) is obtained from the three-dimensional panoramic view, and the angle critical threshold in the preset conditions is used to determine whether the current power transmission and distribution line is laid in compliance with regulations.

[0059] The method for determining whether the current transmission and distribution lines are laid in compliance with regulations includes step S411, step S412, step S413, step S414, step S415, step S416, step S417, step S418 and step S419.

[0060] Step S411, based on the three-dimensional panoramic image, obtain a third parameter, a fourth parameter and a fifth parameter, wherein the third parameter is a three-dimensional coordinate parameter corresponding to a segmentation frame of a power pole tower; the fourth parameter is a three-dimensional coordinate parameter corresponding to a segmentation frame of a power transmission channel; and the fifth parameter is a three-dimensional coordinate parameter corresponding to a segmentation frame of a power line.

[0061] It can be understood that in this step, the outer contour segmentation frames of the power poles, power lines and roads (railways and transmission channels, etc.) are determined from the three-dimensional panoramic image, and the three-dimensional space coordinate parameters corresponding to each segmentation frame are determined. Assume that the coordinates of the segmentation frames are: Tower Ai = (x ai ,y ai );Wire Bi=(x bi ,y bi); Highway (or railway) Ci = (x ci ,y ci ), where Ai, Bi and Ci represent the segmentation boxes corresponding to the tower, wire and road respectively; i represents different points in each segmentation box; x ai and ai are the horizontal and vertical spatial coordinates of the midpoint i in the tower segmentation frame; bi ,y bi are the horizontal and vertical spatial coordinates of the midpoint i in the wire segmentation frame; ci ,y ci are the horizontal and vertical spatial coordinates of the midpoint i in the highway segmentation frame.

[0062] Step S412: Calculate based on the third parameter and the fourth parameter to obtain a first normal vector and a second normal vector.

[0063] It can be understood that in this step, any 4 points in the telegraph tower segmentation frame are randomly selected, and their spatial coordinates are determined according to the radar data corresponding to the 4 points, and the plane equation corresponding to the telegraph tower in the three-dimensional space is constructed based on all the spatial coordinates: ax+by+cz+d=0, where a, b and c are the coefficients of the same point on the three coordinate axes in the three-dimensional space; d is a constant; x, y and z are the coordinates of the same point on the three coordinate axes in the three-dimensional space. Substitute the coordinates of the four points into the plane equation to construct the equation group, and solve the equation group to obtain the first normal vector. The same method is used to calculate the second normal vector based on the fourth parameter.

[0064] Step S413: determining a line segmentation point based on the first normal vector, wherein the line segmentation point is an intersection point between a first segmentation line and the electric wire, and the first segmentation line is parallel to the first normal.

[0065] It can be understood that, in this step, a first segmentation line parallel to the first normal is translated upward from the ground to intersect with the electric wire, thereby obtaining a plurality of line segmentation points.

[0066] Step S414: determine a path dividing point based on the second normal vector, the path dividing point being an intersection of a second dividing line and the power transmission channel, and the second dividing line is parallel to the second normal.

[0067] It can be understood that, in this step, a plurality of path dividing points are obtained according to the intersection of the second dividing line parallel to the second normal and the power transmission channel.

[0068] Step S415: determine a first monitoring point based on all the line segmentation points and the fifth parameter, wherein the first monitoring point is the product of the point with the smallest longitudinal coordinate in the fifth parameter among all the line segmentation points and the spatial parameter.

[0069] It can be understood that in this step, the line segmentation point closest to the ground is determined as the first monitoring point based on all line segmentation points, and the actual longitudinal spatial height of the first monitoring point is determined based on the product of the coordinates of the first monitoring point and the spatial parameter.

[0070] Step S416: determine a second monitoring point based on all the path segmentation points and the fourth parameter, wherein the first monitoring point is the product of the point with the largest longitudinal coordinate in the fourth parameter among all the path segmentation points and the spatial parameter.

[0071] It can be understood that in this step, the highest point on the ground is determined as the second monitoring point based on all the path segmentation points, and the real longitudinal spatial height of the second monitoring point is determined based on the product of the coordinates of the second monitoring point and the spatial parameter.

[0072] Step S417: Based on the difference between the first monitoring point and the second monitoring point, determine whether the power transmission and distribution line is laid in compliance with regulations according to the highly critical threshold in the preset conditions; if the power transmission and distribution line is laid in compliance with regulations, calculate the first parallel vector and the second parallel vector respectively according to the fourth parameter and the fifth parameter.

[0073] It can be understood that in this step, the difference between the actual longitudinal spatial height of the first monitoring point and the second monitoring point is the actual height of the power line relative to the ground, and the calculated actual height is compared with the critical height threshold. If it is higher than the critical height threshold, it is compliant with the laying, and then the fourth parameter and the fifth parameter are calculated respectively to obtain the first parallel vector corresponding to the highway, transmission channel or railway, and the second parallel vector corresponding to the power line.

[0074] Step S418: Calculate based on the first parallel vector and the second parallel vector to obtain a vector angle.

[0075] Step S419: determine whether the transmission and distribution line is laid in compliance with regulations based on the vector angle and the angle critical threshold in the preset conditions; if the vector angle is higher than the angle critical threshold, it is laid in compliance; if the vector angle is lower than the angle critical threshold, it is laid in non-compliance, and a warning message is issued.

[0076] It can be understood that in this step, it is determined whether the intersection angle between the road (transmission channel or railway) and the power line is less than or equal to the critical angle threshold. If so, it means that the transmission and distribution line is not laid in compliance with regulations, and a warning message is issued.

[0077] Embodiment 2:

[0078] See also Figure 2 , Figure 2This is a schematic diagram of the structure of a monitoring device for the compliance installation of power transmission and distribution lines according to an embodiment of the present invention. This embodiment provides a monitoring device for the compliance installation of power transmission and distribution lines, including an acquisition module 710, a first judgment module 720, an interception module 730 and a second judgment module 740, wherein:

[0079] Acquisition module 710: used to acquire a bird's-eye view of the ground;

[0080] The first judgment module 720 is used to judge whether the bird's-eye view of the ground contains a first preset image, and if the bird's-eye view of the ground contains the first preset image, mark it as a first region of interest.

[0081] The interception module 730 is configured to obtain a three-dimensional panoramic image based on the first region of interest, wherein the three-dimensional panoramic image is a three-dimensional stereo model reconstructed based on the first region of interest.

[0082] Furthermore, the interception module 730 includes a first acquisition unit 731, a learning unit 732, a first segmentation unit 733, a search unit 734 and a marking unit 735, wherein:

[0083] The first acquisition unit 731 is used to acquire at least one thousand sets of power pole tower images, power transmission channel images and power line images in a real scene, wherein the power transmission channel images include images of roads, railways and important power transmission lines;

[0084] Learning unit 732: used for performing deep learning based on the power pole tower image, the power transmission channel image and the power line image to obtain a segmentation model;

[0085] The first segmentation unit 733 is used for inputting the bird's-eye view of the ground into the segmentation model to obtain a segmented image;

[0086] Search unit 734: used to determine the target image based on the segmented image and the second preset condition;

[0087] The marking unit 735 is configured to mark the target image consistent with the first preset image as a first region of interest based on all the target images.

[0088] The second judgment module 740 is used to judge whether the three-dimensional panoramic image contains a second preset image. If the three-dimensional panoramic image contains the second preset image, whether the power transmission and distribution lines are laid in compliance with regulations is monitored based on the three-dimensional panoramic image and preset conditions. The preset conditions are the height critical threshold and angle critical threshold of the power transmission and distribution lines crossing the line design standards.

[0089] Further, the second judgment module 740 includes a first calculation unit 741, an acquisition subunit 742, a second calculation unit 743, a third calculation unit 744, a fourth calculation unit 745 and a sub-judgment unit 746, wherein:

[0090] The first calculation unit 741 is used to obtain a first parameter, a second parameter and a spatial parameter according to the three-dimensional panoramic image and the second preset image, wherein the first parameter is the spatial coordinate of the lowest point of the first preset image relative to the second preset image in the three-dimensional panoramic image, and the second parameter is the longitudinal spatial coordinate of the electric pole tower in the three-dimensional panoramic image; the spatial parameter is the three-dimensional spatial relationship matrix of the drone camera relative to the ground coordinate system;

[0091] The acquisition subunit 742 is used to acquire the actual height of the electric pole tower;

[0092] A second calculation unit 743 is used to obtain a similarity ratio according to the actual height of the electric pole tower and the second parameter;

[0093] The third calculation unit 744 is used to obtain the coordinate parameter of the lowest point of the electric wire according to the similarity ratio and the first parameter, wherein the coordinate parameter of the lowest point of the electric wire is the spatial coordinate corresponding to the lowest point of the electric wire erected between the two electric wire towers;

[0094] The fourth calculation unit 745 is used to obtain the real height of the lowest point of the electric wire based on the product of the coordinate parameter of the lowest point of the electric wire and the spatial parameter;

[0095] Sub-judgment unit 746: judge whether the current power transmission and distribution line is laid in compliance with regulations based on the actual height of the lowest point of the electric wire and the height critical threshold in the preset conditions; if the current power transmission and distribution line is laid in compliance with regulations, obtain the angle between the first preset image and the second preset image based on the three-dimensional panoramic image, and judge whether the current power transmission and distribution line is laid in compliance with regulations based on the angle critical threshold in the preset conditions.

[0096] See also Figure 3 , Figure 3 Schematic diagram of another monitoring device for compliance laying of power transmission and distribution lines described in an embodiment of the present invention. The second judgment module 740 includes a second acquisition unit 750, a fifth calculation unit 751, a second segmentation unit 752, a third segmentation unit 753, a sixth calculation unit 754, a seventh calculation unit 755, an eighth calculation unit 756, a ninth calculation unit 757 and a processing unit 758, wherein:

[0097] The second acquisition unit 750 is used to acquire a third parameter, a fourth parameter and a fifth parameter based on the three-dimensional panoramic image, wherein the third parameter is a three-dimensional coordinate parameter corresponding to a segmentation frame of a power pole tower; the fourth parameter is a three-dimensional coordinate parameter corresponding to a segmentation frame of a power transmission channel; and the fifth parameter is a three-dimensional coordinate parameter corresponding to a segmentation frame of a power line.

[0098] A fifth calculation unit 751 is configured to calculate based on the third parameter and the fourth parameter to obtain a first normal vector and a second normal vector;

[0099] A second segmentation unit 752 is configured to determine a line segmentation point based on the first normal vector, wherein the line segmentation point is an intersection point of a first segmentation line and the electric wire, and the first segmentation line is parallel to the first normal direction;

[0100] A third segmentation unit 753 is used to determine a path segmentation point based on the second normal vector, wherein the path segmentation point is an intersection point of a second segmentation line and the power transmission channel, and the second segmentation line is parallel to the second normal direction;

[0101] A sixth calculation unit 754 is configured to determine a first monitoring point based on all the route segmentation points and the fifth parameter, wherein the first monitoring point is a product of a point with the smallest longitudinal coordinate in the fifth parameter among all the route segmentation points and the spatial parameter;

[0102] A seventh calculation unit 755: used to determine a second monitoring point based on all the path segmentation points and the fourth parameter, wherein the first monitoring point is the product of the point with the largest longitudinal coordinate in the fourth parameter among all the path segmentation points and the space parameter;

[0103] An eighth calculation unit 756 is used to determine whether the power transmission and distribution line is laid in compliance with regulations based on the difference between the first monitoring point and the second monitoring point and the high critical threshold in the preset condition, and if the power transmission and distribution line is laid in compliance with regulations, respectively calculate according to the fourth parameter and the fifth parameter to obtain a first parallel vector and a second parallel vector;

[0104] A ninth calculation unit 757: configured to calculate based on the first parallel vector and the second parallel vector to obtain a vector angle;

[0105] Processing unit 758: used to determine whether the transmission and distribution line is laid in compliance with regulations based on the vector angle and the angle critical threshold in the preset conditions. If the vector angle is higher than the angle critical threshold, it is laid in compliance with regulations; if the vector angle is lower than the angle critical threshold, it is laid in non-compliance, and a warning message is issued.

[0106] It should be noted that, regarding the device in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0107] Embodiment 3:

[0108] Corresponding to the above method embodiment, this embodiment also provides monitoring equipment for the compliance of the laying of power transmission and distribution lines. The monitoring equipment for the compliance of the laying of power transmission and distribution lines described below and the monitoring method for the compliance of the laying of power transmission and distribution lines described above can be referred to each other.

[0109] Figure 4 FIG. 8 is a block diagram of a monitoring device 800 for compliance installation of a power transmission and distribution line according to an exemplary embodiment. Figure 4 As shown, the monitoring device 800 for compliance installation of power transmission and distribution lines may include: a processor 801 and a memory 802. The monitoring device 800 for compliance installation of power transmission and distribution lines may also include one or more of a multimedia component 803, an I / O interface 804, and a communication component 805.

[0110] The processor 801 is used to control the overall operation of the monitoring device 800 for compliance with the laying of the power transmission and distribution lines, so as to complete all or part of the steps in the above-mentioned monitoring method for compliance with the laying of the power transmission and distribution lines. The memory 802 is used to store various types of data to support the operation of the monitoring device 800 for compliance with the laying of the power transmission and distribution lines. For example, these data may include instructions for any application or method used to operate on the monitoring device 800 for compliance with the laying of the power transmission and distribution lines, as well as application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or optical disk. The multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 802 or sent via the communication component 805. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 804 provides an interface between the processor 801 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the monitoring device 800 for compliance laying of the transmission and distribution lines and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of them or several thereof, so the corresponding communication component 805 can include: Wi-Fi module, Bluetooth module, NFC module.

[0111] In an exemplary embodiment, the monitoring device 800 for the compliance of the laying of transmission and distribution lines can be implemented by one or more application specific integrated circuits (Application Specific Integrated Circuit, referred to as ASIC), digital signal processors (Digital Signal Processor, referred to as DSP), digital signal processing devices (Digital Signal Processing Device, referred to as DSPD), programmable logic devices (Programmable Logic Device, referred to as PLD), field programmable gate arrays (Field Programmable Gate Array, referred to as FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned monitoring method for the compliance of the laying of transmission and distribution lines.

[0112] In another exemplary embodiment, a computer storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned monitoring method for the compliance installation of power transmission and distribution lines are implemented. For example, the computer storage medium can be the above-mentioned memory 802 including program instructions, and the above-mentioned program instructions can be executed by the processor 801 of the monitoring device 800 for the compliance installation of power transmission and distribution lines to complete the above-mentioned monitoring method for the compliance installation of power transmission and distribution lines.

[0113] Embodiment 4:

[0114] Corresponding to the above method embodiment, a storage medium is also provided in this embodiment, and the storage medium described below and the monitoring method for compliance installation of power transmission and distribution lines described above can be referenced to each other.

[0115] A storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for monitoring the compliance installation of power transmission and distribution lines in the above-mentioned method embodiment.

[0116] The storage medium may specifically be a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or other storage medium that can store program codes.

[0117] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0118] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for monitoring the compliance of power transmission and distribution lines, characterized in that: include: Get a bird's eye view of the ground; Determining whether the bird's-eye view of the ground contains a first preset image, and if the bird's-eye view of the ground contains the first preset image, marking it as a first region of interest; Based on the first region of interest, a three-dimensional panoramic image is obtained, where the three-dimensional panoramic image is a three-dimensional stereo model reconstructed based on the first region of interest; Determine whether the three-dimensional panoramic image contains a second preset image. If the three-dimensional panoramic image contains the second preset image, monitor whether the power transmission and distribution line is laid in compliance with regulations based on the three-dimensional panoramic image and preset conditions, wherein the preset conditions are a critical height threshold and a critical angle threshold of the power transmission and distribution line crossing a line design standard; Monitoring whether the transmission and distribution lines are laid in compliance with regulations based on the three-dimensional panoramic image and preset conditions includes: According to the three-dimensional panoramic image and the second preset image, a first parameter, a second parameter and a spatial parameter are obtained, wherein the first parameter is the spatial coordinate of the lowest point of the first preset image relative to the second preset image in the three-dimensional panoramic image, and the second parameter is the longitudinal spatial coordinate of the electric pole tower in the three-dimensional panoramic image; and the spatial parameter is the three-dimensional spatial relationship matrix of the drone camera relative to the ground coordinate system; Obtaining the actual height of the electric pole tower; Obtaining a similarity ratio according to the actual height of the electric pole tower and the second parameter; According to the similarity ratio and the first parameter, a coordinate parameter of the lowest point of the electric wire is obtained, wherein the coordinate parameter of the lowest point of the electric wire is a spatial coordinate corresponding to the lowest point of the electric wire erected between the two electric wire towers; Based on the product of the coordinate parameter of the lowest point of the electric wire and the spatial parameter, the true height of the lowest point of the electric wire is obtained; According to the actual height of the lowest point of the electric wire and the height critical threshold in the preset conditions, it is judged whether the current power transmission and distribution line is laid in compliance with the regulations; if the current power transmission and distribution line is laid in compliance with the regulations, the angle between the first preset image and the second preset image is obtained according to the three-dimensional panoramic image, and according to the angle critical threshold in the preset conditions, it is judged whether the current power transmission and distribution line is laid in compliance with the regulations.

2. The method for monitoring the compliance laying of power transmission and distribution lines according to claim 1, characterized in that: Methods for determining whether the current transmission and distribution lines are laid in compliance with regulations include: Based on the three-dimensional panoramic image, a third parameter, a fourth parameter and a fifth parameter are obtained, wherein the third parameter is a three-dimensional coordinate parameter corresponding to a segmentation frame of a power pole tower; and the fourth parameter is a three-dimensional coordinate parameter corresponding to a segmentation frame of a power transmission channel; The fifth parameter is a three-dimensional coordinate parameter corresponding to the segmentation frame of the wire; Based on the third parameter and the fourth parameter, respectively, a first normal vector and a second normal vector are obtained; Determine a line segmentation point based on the first normal vector, the line segmentation point being an intersection of a first segmentation line and the electric wire, the first segmentation line being parallel to the first normal direction; Determine a path segmentation point based on the second normal vector, the path segmentation point being an intersection of a second segmentation line and the power transmission channel, the second segmentation line being parallel to the second normal direction; Determine a first monitoring point based on all the route segmentation points and the fifth parameter, the first monitoring point being the product of a point with the smallest longitudinal coordinate in the fifth parameter among all the route segmentation points and the spatial parameter; Determine a second monitoring point based on all the path segmentation points and the fourth parameter, the first monitoring point being the product of the point with the largest longitudinal coordinate in the fourth parameter among all the path segmentation points and the space parameter; Based on the difference between the first monitoring point and the second monitoring point, judging whether the power transmission and distribution line is laid in compliance with the regulations according to the high critical threshold in the preset condition, if the power transmission and distribution line is laid in compliance with the regulations, respectively calculating according to the fourth parameter and the fifth parameter to obtain the first parallel vector and the second parallel vector; Calculate based on the first parallel vector and the second parallel vector to obtain a vector angle; Based on the vector angle and the angle critical threshold in the preset conditions, it is judged whether the transmission and distribution line is laid in compliance with regulations. If the vector angle is higher than the angle critical threshold, it is laid in compliance with regulations; if the vector angle is lower than the angle critical threshold, it is laid uncompliantly, and a warning message is issued.

3. The method for monitoring the compliance laying of power transmission and distribution lines according to claim 1, characterized in that: The marking method of the first region of interest comprises: Acquire at least one thousand sets of images of electric poles and towers, transmission channel images, and power line images in real scenes, wherein the transmission channel images include images of roads, railways, and important transmission lines; Perform deep learning based on the power pole tower image, the power transmission channel image, and the power line image to obtain a segmentation model; Inputting the bird's-eye view of the ground into the segmentation model to obtain a segmented image; Determining a target image based on the segmented image and a second preset condition; Based on all the target images, the target image consistent with the first preset image is marked as a first region of interest.

4. A monitoring device for compliance with laying of power transmission and distribution lines, characterized in that: include: Acquisition module: used to obtain a bird's-eye view of the ground; A first judging module: used for judging whether the bird's-eye view of the ground contains a first preset image, and if the bird's-eye view of the ground contains the first preset image, marking it as a first region of interest; A capture module: used for obtaining a three-dimensional panoramic image based on the first region of interest, wherein the three-dimensional panoramic image is a three-dimensional stereo model reconstructed based on the first region of interest; A second judgment module is used to judge whether the three-dimensional panoramic image contains a second preset image. If the three-dimensional panoramic image contains the second preset image, whether the power transmission and distribution line is laid in compliance with regulations is monitored according to the three-dimensional panoramic image and preset conditions, wherein the preset conditions are a height critical threshold and an angle critical threshold of the power transmission and distribution line crossing the line design standard; The second judgment module includes: A first calculation unit: used for obtaining a first parameter, a second parameter and a spatial parameter according to the three-dimensional panoramic image and the second preset image, wherein the first parameter is the spatial coordinate of the lowest point of the first preset image relative to the second preset image in the three-dimensional panoramic image, and the second parameter is the longitudinal spatial coordinate of the electric pole tower in the three-dimensional panoramic image; the spatial parameter is the three-dimensional spatial relationship matrix of the drone camera relative to the ground coordinate system; Acquisition subunit: used to acquire the actual height of the electric pole tower; A second calculation unit is used to obtain a similarity ratio according to the actual height of the electric pole tower and the second parameter; A third calculation unit is used to obtain a coordinate parameter of the lowest point of the electric wire according to the similarity ratio and the first parameter, wherein the coordinate parameter of the lowest point of the electric wire is a spatial coordinate corresponding to the lowest point of the electric wire erected between the two electric wire towers; A fourth calculation unit: used for obtaining the true height of the lowest point of the electric wire based on the product of the coordinate parameter of the lowest point of the electric wire and the spatial parameter; Sub-judgment unit: judge whether the current power transmission and distribution line is laid in compliance with regulations based on the actual height of the lowest point of the electric wire and the height critical threshold in the preset conditions; if the current power transmission and distribution line is laid in compliance with regulations, obtain the angle between the first preset image and the second preset image based on the three-dimensional panoramic image, and judge whether the current power transmission and distribution line is laid in compliance with regulations based on the angle critical threshold in the preset conditions.

5. The monitoring device for compliance laying of power transmission and distribution lines according to claim 4, characterized in that: The second judgment module includes: A second acquisition unit is used to acquire a third parameter, a fourth parameter and a fifth parameter based on the three-dimensional panoramic image, wherein the third parameter is a three-dimensional coordinate parameter corresponding to a segmentation frame of a power pole tower; the fourth parameter is a three-dimensional coordinate parameter corresponding to a segmentation frame of a power transmission channel; and the fifth parameter is a three-dimensional coordinate parameter corresponding to a segmentation frame of a power line; A fifth calculation unit: configured to calculate based on the third parameter and the fourth parameter respectively to obtain a first normal vector and a second normal vector; A second segmentation unit: configured to determine a line segmentation point based on the first normal vector, wherein the line segmentation point is an intersection point of a first segmentation line and the electric wire, and the first segmentation line is parallel to the first normal direction; A third segmentation unit: configured to determine a path segmentation point based on the second normal vector, wherein the path segmentation point is an intersection point of a second segmentation line and the power transmission channel, and the second segmentation line is parallel to the second normal direction; A sixth calculation unit: configured to determine a first monitoring point based on all the route segmentation points and the fifth parameter, wherein the first monitoring point is a product of a point with the smallest longitudinal coordinate in the fifth parameter among all the route segmentation points and the spatial parameter; A seventh calculation unit: used for determining a second monitoring point based on all the path segmentation points and the fourth parameter, wherein the first monitoring point is the product of the point with the largest longitudinal coordinate in the fourth parameter among all the path segmentation points and the space parameter; an eighth calculation unit: configured to determine whether the power transmission and distribution line is laid in compliance with regulations based on the difference between the first monitoring point and the second monitoring point and the highly critical threshold in the preset condition; if the power transmission and distribution line is laid in compliance with regulations, respectively calculate according to the fourth parameter and the fifth parameter to obtain a first parallel vector and a second parallel vector; A ninth calculation unit: configured to calculate based on the first parallel vector and the second parallel vector to obtain a vector angle; Processing unit: used to judge whether the transmission and distribution line is laid in compliance with regulations based on the vector angle and the angle critical threshold in the preset conditions; if the vector angle is higher than the angle critical threshold, it is laid in compliance; if the vector angle is lower than the angle critical threshold, it is laid in non-compliance, and a warning message is issued.

6. The monitoring device for compliance laying of power transmission and distribution lines according to claim 4, characterized in that: The interception module comprises: A first acquisition unit is used to acquire at least one thousand sets of images of electric poles and towers, images of power transmission channels, and images of power lines in real scenes, wherein the images of power transmission channels include images of roads, railways, and important power transmission lines; A learning unit: used for performing deep learning based on the power pole tower image, the power transmission channel image and the power line image to obtain a segmentation model; A first segmentation unit is used for inputting the bird's-eye view of the ground into the segmentation model to obtain a segmented image; A search unit: used for determining a target image based on the segmented image and a second preset condition; A marking unit is used to mark the target image consistent with the first preset image as a first region of interest based on all the target images.

7. Monitoring equipment for compliance of transmission and distribution lines, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the method for monitoring the compliance laying of power transmission and distribution lines as described in any one of claims 1 to 3 when executing the computer program.

8. A storage medium, characterized in that: The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for monitoring the compliance installation of power transmission and distribution lines as claimed in any one of claims 1 to 3.

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